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HAPTICS
2002
IEEE

System Identification of the Human Hand Grasping a Haptic Knob

10 years 3 months ago
System Identification of the Human Hand Grasping a Haptic Knob
Accurate dynamic models of human hands grasping haptic devices can help to inform stability analyses, control algorithms, device design, and technology development efforts. The current study develops and tests a lumped second-order dynamic model for nine subjects holding a haptic knob in a simple pinch grasp. Results include steadily increasing damping and stiffness parameters with increasing grip force, and compare well to the findings of earlier investigators. Moment of inertia estimates, expected to remain constant, dropped for very large grip forces, illustrating limitations in the second-order model.
Christopher J. Hasser, Mark R. Cutkosky
Added 14 Jul 2010
Updated 14 Jul 2010
Type Conference
Year 2002
Where HAPTICS
Authors Christopher J. Hasser, Mark R. Cutkosky
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