Grasp admittance center: how sensitive is it to parameter imprecision?

Abstract

Extending the grasp compliance center concept to grasps in dynamic situations, the authors previously (1991) formulated a concept termed the grasp admittance center and showed that a grasp with an admittance center will have three distinct features-stability, decoupled force/motion relation and decoupled time response. However. achieving an admittance center in a grasp is affected by the precision of two sets of parameters grasp configuration parameters and the finger tip impedance parameters. In practice, they are imprecise. The question then is, will the grasp still be able to retain the three useful features listed above? If not, to what extent do these features deteriorate? Answering these questions is the main goal of this paper.<>