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Impedance identification of human fingers using virtual task environment

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2 Author(s)
T. Yoshikawa ; Dept. of Mech. Eng., Kyoto Univ., Japan ; Y. Ichinoo

Humans unconsciously use efficient algorithms when performing a manipulation task by their hands. Robots can be made more efficient by applying these same algorithms. In this paper, we focus on the mechanical impedance of the operator's fingers as a key parameter for describing such kind of algorithms. To overcome the difficulty of identifying the parameters in the real world task, we propose to use a virtual task environment based on the haptic virtual reality technology. Some preliminary experiments are presented to show the validity of the proposed approach.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003