Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles

Kenji Taharat, Zhi Wei Luo, Ryuta Ozawa, Ji Hun Bae, Suguru Arimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In this paper, we study co-activation of digitorum muscles while perform stable pinching and posture regulation tasks of an object by using dual fingers. The fingers have 2 D.O.F. joints and are actuated by nonlinear redundant digitorum muscles to mimic human-like pinching movements. Firstly, we illustrate the kinematics and the dynamics of the overall system, which consider not only the fingers and an object, but also three muscles for each finger to actuate the finger links. Secondly, we consider nonlinear muscle property based on several physiological studies, and propose sensory-motor control rule to the muscles in order to realize stable pinching simultaneously with posture regulation by introducing internal force term induced by co-activation between flexor digitorums and extensor digitorums to modulate the damping factor in joint space. We verify our study by numerical simulations and conclude that this dual fingers system can realize human-like stable pinching and posture regulation.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages994-999
Number of pages6
DOIs
Publication statusPublished - 27 Dec 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period15/05/0619/05/06

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  • Cite this

    Taharat, K., Luo, Z. W., Ozawa, R., Bae, J. H., & Arimoto, S. (2006). Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 994-999). [1641839] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641839