Full metadata
Title
Digit Control During Object Handover
Description
Currently, assistive robots and prosthesis have a difficult time giving and receiving objects to and from humans. While many attempts have been made to program handover scenarios into robotic control algorithms, the algorithms are typically lacking in at least one important feature: intuitiveness, safety, and efficiency. By performing a study to better understand human-to-human handovers, we observe trends that could inspire controllers for object handovers with robots. Ten pairs of human subjects handed over a cellular phone-shaped, instrumented object using a key pinch while 3D force and motion tracking data were recorded. It was observed that during handovers, humans apply a compressive force on the object and employ linear grip force to load force ratios when two agents are grasping an object (referred to as the "mutual grasp period"). Results also suggested that object velocity during the mutual grasp period is driven by the receiver, while the duration of the mutual grasp period is driven by the preference of the slowest agent involved in the handover. Ultimately, these findings will inspire the development of robotic handover controllers to advance seamless physical interactions between humans and robots.
Date Created
2015-05
Contributors
- Chang, Eric (Author)
- Helms Tillery, Stephen (Thesis director)
- Santos, Veronica (Committee member)
- Barrett, The Honors College (Contributor)
- Mechanical and Aerospace Engineering Program (Contributor)
Topical Subject
Resource Type
Extent
33 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Series
Academic Year 2014-2015
Handle
https://hdl.handle.net/2286/R.I.29155
Level of coding
minimal
Cataloging Standards
System Created
- 2017-10-30 02:50:57
System Modified
- 2021-08-11 04:09:57
- 3 years 1 month ago
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