In contrast to robots, in humans internal and manipulation forces are coupled

Fan Gao, M. Latash, V. Zatsiorsky
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引用次数: 4

Abstract

Internal force is defined as a set of contact forces which does not perturb object equilibrium. The internal forces cancel each other and therefore do not contribute to the resultant (manipulation) force acting upon the object. Mathematically, the internal and manipulation forces are independent. Hence they can be controlled independently and corresponding controllers have been implemented in robotic manipulators. The purposes of this study are to examine whether in humans internal force is coupled with the manipulation force and what kind of grasping strategy the performers utilize. The subjects (n=6) were instructed to make cyclic arm movements with a customized manipulandum and the orientation and the movement direction of the manipulandum were varied. Two major grasping patterns were demonstrated: symmetric grasping synergy when the manipulation force is parallel to finger-object interface; and reciprocal changes of forces when the manipulation force is orthogonal to digit-object interface. In contrast to robotic gripper where controls of internal force and manipulation force are decoupled, in humans the internal and manipulation forces are coupled.
与机器人不同,人类的内力和操纵力是耦合的
内力定义为不破坏物体平衡的一系列接触力。内力相互抵消,因此对作用在物体上的合力(操纵力)没有贡献。在数学上,内力和操纵力是独立的。因此,它们可以独立控制,相应的控制器已经在机器人操作器中实现。本研究的目的是研究人类的内力是否与操纵力相耦合,以及表演者使用什么样的抓取策略。指导被试(n=6)使用定制的机械手进行手臂循环运动,改变机械手的姿态和运动方向。研究了两种主要的抓取模式:当操纵力平行于指-物界面时的对称抓取协同;以及当操纵力与数字物体界面正交时力的倒数变化。机械手的内力和操纵力的控制是分离的,而人的内力和操纵力是耦合的。
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