1996•Journal of the Korean Society for Precision EngineeringOpen access

Characterization and Control of Grasp Stiffness Based on Virtual Stiffness Model

H.R. Park, W.K. Chung, Y. Youm

Abstract

Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.

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Available abstract

Key concepts: GRASP, Stiffness, Robot hand, Computer science, Robot, Control (management), Object (grammar), Characterization (materials science)