Contact force computation for bimanual grasps
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Document typeConference report
Date issued2017
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessRestricted access - publisher's policy
Abstract
This paper presents a method to compute con-
tact forces for bimanual grasps. The method is based on the
optimization of the force distribution of the hands and min-
imizing the force exerted by each finger, using two different
cost functions. Both cost functions and the constrains of the
optimization problem are formulated as functions of the joint
torques based on the existing relation between the grasping
forces, the hand-jacobian matrix and the torque of the joint
fingers. Additionally, a bimanual grasp index is presented to
measure the force distribution between the hands. The paper
includes some application examples of the proposed approac
CitationRojas de Silva, F., Suarez, R. Contact force computation for bimanual grasps. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings of the 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2017)". Limassol, Chipre: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1-6.
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