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

Fan Gao, Mark L. Latash, Vladimir M. Zatsiorsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Pages404-407
Number of pages4
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States
Duration: Jun 28 2005Jul 1 2005

Publication series

NameProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics
Volume2005

Other

Other2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
CountryUnited States
CityChicago, IL
Period6/28/057/1/05

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Gao, F., Latash, M. L., & Zatsiorsky, V. M. (2005). In contrast to robots, in humans internal and manipulation forces are coupled. In Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 (pp. 404-407). [1501129] (Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics; Vol. 2005). https://doi.org/10.1109/ICORR.2005.1501129