Comparison of Precision Grasping Performance between Artificial Fingers With and Without Nails | IEEE Conference Publication | IEEE Xplore

Comparison of Precision Grasping Performance between Artificial Fingers With and Without Nails


Abstract:

In this study, we investigated the effect of the presence or absence of fingernails on precision grasping using artificial anthropomimetic fingers. We hypothesized that f...Show More

Abstract:

In this study, we investigated the effect of the presence or absence of fingernails on precision grasping using artificial anthropomimetic fingers. We hypothesized that fingernails improve precision grasping performance by increasing the friction coefficient while suppressing fingertip deformation. To test our hypothesis, we developed artificial fingertips, each composed of bone, nail, skin, and soft tissue, and fabricated three types of artificial fingers with different skin softness grades and artificial fingers without nails as the control condition. Pull-out experiments of cylindrical objects and T-shaped blocks were conducted using the developed artificial fingertips with and without nails, and the pull-out resistance forces were compared. The nail contributed to object grasping stability because the pull-out resistance force was significantly increased by the presence of the nail in the artificial fingertip with soft skin. The rate of increase in the resistance force of the T-shaped block was more significant than that of the cylindrical object because the finger pulp deformation was suppressed by the nail, and the form closure, that is, geometric constraint, was formed for the grasping object. These results suggest that the human nail improves precision grasping performance by forming geometric constraints on the grasped object, suppressing finger pulp deformation.
Date of Conference: 07-09 March 2022
Date Added to IEEE Xplore: 14 April 2022
ISBN Information:
Conference Location: Osaka, Japan

Funding Agency:


I. Introduction

The goal of developing a robotic hand is to improve grasping performance. What is commonly required for many hands is the ability to grasp an object stably. Although different definitions of stable grasping have been proposed, durability (which indicates how well the hand can keep grasping an object against a given disturbance while holding an object) is a critical index for evaluating stable grasping with a robotic hand. The anthropomimetic approach is often used to determine the grasping durability of a robotic hand. The anthropomimetic approach is based on the principle that human fingers contain elements that play a significant role in grasping an object. Therefore, many robot hands have been developed to mimic the human hand [1].

References

References is not available for this document.