Force control of a robot gripper based on human grasping schemes

This paper describes the force control of a robot gripper that is modeled on the basis of human grasping schemes. In the cases in which fluctuation in load is induced by movement of the object, human beings are able to precisely change the grasping forces according to changes in fingertip forces perpendicular to the grasping direction, The characteristics of strengthening and weakening of forces vary with respect to the safety margin. Here, a model for determining the grasping force of a robot gripper, which depends on the object's acceleration, is described. In this model, unexpected subtle load forces can be compensated by minimal required forces to prevent slip. (C) 2001 Elsevier Science Ltd. All rights reserved.