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Benchmarking Hand and Grasp Resilience to Dynamic Loads

Negrello, Francesca and Friedl, Werner and Grioli, Giorgio and Garabini, Manolo and Brock, Oliver and Bicchi, Antonio and Roa Garzon, Máximo Alejandro and Catalano, Manuel (2020) Benchmarking Hand and Grasp Resilience to Dynamic Loads. IEEE Robotics and Automation Letters, 5 (2), pp. 1780-1787. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.109/LRA.2020.2969180. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/8968416


In this work, we investigate the behavior of artificial hands under impulsive load conditions. Resilience to impacts has been seldom considered in grasp and manipulation literature and benchmarks, although it is one of the most relevant issues in a number of applications involving physical interactions with unstructured environments, in prosthetic as well as in robotic manipulation. We focus on two research questions: the capability of hands to withstand impacts before being damaged (Hand Resilience) and before losing the grasp on a object (Grasp Resilience). To these aims, we introduce an evaluation framework, including a precisely defined experimental set-up and test procedure. The proposed methodology, metrics, and test variables are discussed through analytical evaluation and with experimental data extracted from the testing of three different hand designs

Item URL in elib:https://elib.dlr.de/136148/
Document Type:Article
Title:Benchmarking Hand and Grasp Resilience to Dynamic Loads
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Negrello, FrancescaCentro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, ItalyUNSPECIFIED
Friedl, WernerWerner.Friedl (at) dlr.dehttps://orcid.org/0000-0003-3002-7274
Grioli, GiorgioCentro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, ItalyUNSPECIFIED
Garabini, ManoloCentro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, ItalyUNSPECIFIED
Brock, OliverTU Berlin, Robotics and Biology LaboratoryUNSPECIFIED
Bicchi, AntonioInterdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of PisaUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:April 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.109/LRA.2020.2969180
Page Range:pp. 1780-1787
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Benchmarking, hand, grasp and manipulation, mechanical design
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:21 Sep 2020 11:26
Last Modified:20 Jun 2021 15:54

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