Hand-over of an object between human and robot

In order to control robot hands intelligently as human do, the authors consider a physiological approach motivated by the study of human hands. They analyze the human's grasping behavior, where two frictional point contacts and prismatic grasp are used. And two methods that can predict when and how fingers will slip upon a grasped object are considered. To emulate the human's capabilities, the propose a method for determining a grasp force, which uses the change in the friction force. Experimental results show that the proposed method can be applied to control of robot hands to grasp objects of arbitrary weight stably without skin-like slip sensors. Based on the analysis of the human's behavior, the smooth hand-over of an object between a human and a robot hand is accomplished.<<ETX>>