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TOUCH PROCESSING MODEL IN HUMAN GRASPING BASED ON THE STICK RATIO WITHIN A FINGERTIP

基于指尖棒比的人体抓取触摸处理模型

基本信息

批准号：
13450104
负责人：
OGASAWARA Tsukasa
金额：
$ 6.53万
依托单位：
Nara Institute of Science and Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2003
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13450104/
关键词：
Grasping movement Elastic contact Incipient slip Stick ratio Touch processing Grip force control

项目摘要

In this research, grasping movement, typical and fundamental action entailing the touch sensation in a daily life, is investigated, and essential touch information necessary to accomplish the "grasping" is modeled. Concretely, a fingertip contact model derived from the theory of elasticity is discussed, and psychophysical experiments are carried out with an original touch measurement device.First, a fingertip contact is modeled using the theory of an elastic contact. In a contact interface of a tangentially baded elastic sphere, partial slip (incipient slip), suggested to have explicit relations with the grip force control, occurs from the peripheral. In this research, the stick ratio, defined as the ratio of the stick region to the contact region, is introduced. This is a scalar parameter indicating the generalized contact state of an elastic sphere. Then, the grip force control hypothesis based on the stick ratio is proposed. The grip force is reported to have similar safety margin regardless of the grasped object. SO, the stick ratio is *umed as a major tactile input in grasping. Since the stick ratio is a generalized slip margin, proper grip force can he realized just converges the stick ratio in a similar value.Measurement of the stick ratio during grasping are carried out to show the validness of the hypothesis. In the experiments, subjects are asked to lift up the device with its weight and fiction randomly changed, repeatedly. So, the transition of the stick ratio and the grip/load force from inexperienced to well experienced situations can be observed. The results demonstrate that the stick ratio converges to a similar value after several trials regardless of the condition.These results suggest that the stick ratio can be detected by receptors within a skin, and it converges to a similar value in human grasping. That is, these results strongly support the proposed hypothesis

在这项研究中，抓取运动，典型的和基本的行动，需要在日常生活中的触觉，调查和必要的触摸信息，以完成“抓”建模。具体地说，本文讨论了基于弹性理论的指尖接触模型，并利用原始的触觉测量装置进行了心理物理实验。首先，利用弹性接触理论对指尖接触进行建模。在切向带边弹性球体的接触界面中，部分滑动（初始滑动）从周边发生，建议与抓地力控制有显着关系。在这项研究中，粘附比，定义为粘附区域的接触区域的比例，被引入。这是一个标量参数，表示弹性球的广义接触状态。在此基础上，提出了基于杆长比的握杆力控制假设。据报告，无论抓取物体如何，握力都具有相似的安全裕度。因此，杆比被认为是抓握过程中的一个主要触觉输入。由于杆比是广义的滑移裕度，因此适当的抓握力可以使杆比收敛于一个近似的值.通过对抓握过程中杆比的测量，验证了这一假设的正确性.在实验中，受试者被要求举起装置，其重量和摩擦力随机变化，重复。因此，可以观察到从经验不足到经验丰富的情况下的杆比和抓地力/负载力的转变。结果表明，无论条件如何，在多次试验后，粘附率收敛到一个相似的值。这些结果表明，粘附率可以通过皮肤内的感受器检测到，并且在人类抓握中收敛到一个相似的值。也就是说，这些结果有力地支持了所提出的假设