Graphical visualization of contact forces and hand movements during in-hand manipulation

Raul Suarez; Andres Montano

doi:10.1109/ETFA52439.2022.9921664

Graphical visualization of contact forces and hand movements during in-hand manipulation

Raul Suarez, Andres Montano

Robotics for industrial flexibility

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using the measurements of tactile forces in the fingertips and, on the other, using the torques applied by the motors in the finger joints. The implemented tool also allows to command and move the real robotic hand by specifying the complete hand configuration or any single joint, and see graphically the hand simulation. Real results are shown using the Allegro hand with tactile sensors WTS-FT.

Original language	English
Title of host publication	2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665499965
DOIs	https://doi.org/10.1109/ETFA52439.2022.9921664
Publication status	Published - 2022
Event	27th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2022 - Stuttgart, Germany Duration: 6 Sept 2022 → 9 Sept 2022

Publication series

Name	IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume	2022-September
ISSN (Print)	1946-0740
ISSN (Electronic)	1946-0759

Conference

Conference	27th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2022
Country/Territory	Germany
City	Stuttgart
Period	6/09/22 → 9/09/22

Keywords

Grasping
Manipulation
Robotics
Tactile sensors

Access to Document

10.1109/ETFA52439.2022.9921664

Cite this

Suarez, R., & Montano, A. (2022). Graphical visualization of contact forces and hand movements during in-hand manipulation. In 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 2022-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA52439.2022.9921664

Suarez, Raul ; Montano, Andres. / Graphical visualization of contact forces and hand movements during in-hand manipulation. 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA).

@inproceedings{d9d973cd00834deaaba97c1fdeee7bc6,

title = "Graphical visualization of contact forces and hand movements during in-hand manipulation",

abstract = "The paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using the measurements of tactile forces in the fingertips and, on the other, using the torques applied by the motors in the finger joints. The implemented tool also allows to command and move the real robotic hand by specifying the complete hand configuration or any single joint, and see graphically the hand simulation. Real results are shown using the Allegro hand with tactile sensors WTS-FT.",

keywords = "Grasping, Manipulation, Robotics, Tactile sensors",

author = "Raul Suarez and Andres Montano",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 27th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2022 ; Conference date: 06-09-2022 Through 09-09-2022",

year = "2022",

doi = "10.1109/ETFA52439.2022.9921664",

language = "English",

series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022",

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Suarez, R & Montano, A 2022, Graphical visualization of contact forces and hand movements during in-hand manipulation. in 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022. IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, vol. 2022-September, Institute of Electrical and Electronics Engineers Inc., 27th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2022, Stuttgart, Germany, 6/09/22. https://doi.org/10.1109/ETFA52439.2022.9921664

Graphical visualization of contact forces and hand movements during in-hand manipulation. / Suarez, Raul; Montano, Andres.
2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 2022-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Montano, Andres

PY - 2022

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N2 - The paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using the measurements of tactile forces in the fingertips and, on the other, using the torques applied by the motors in the finger joints. The implemented tool also allows to command and move the real robotic hand by specifying the complete hand configuration or any single joint, and see graphically the hand simulation. Real results are shown using the Allegro hand with tactile sensors WTS-FT.

AB - The paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using the measurements of tactile forces in the fingertips and, on the other, using the torques applied by the motors in the finger joints. The implemented tool also allows to command and move the real robotic hand by specifying the complete hand configuration or any single joint, and see graphically the hand simulation. Real results are shown using the Allegro hand with tactile sensors WTS-FT.

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PB - Institute of Electrical and Electronics Engineers Inc.

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Suarez R, Montano A. Graphical visualization of contact forces and hand movements during in-hand manipulation. In 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA). doi: 10.1109/ETFA52439.2022.9921664

Graphical visualization of contact forces and hand movements during in-hand manipulation

Abstract

Publication series

Conference

Keywords

Access to Document

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Dataset from paper Graphical visualization of contact forces and hand movements during in-hand manipulation

Cite this

Graphical visualization of contact forces and hand movements during in-hand manipulation

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Datasets

Dataset from paper Graphical visualization of contact forces and hand movements during in-hand manipulation

Cite this