Real-time Friction Estimation for Grip Force Control
Heba Khamis Benjamin Xia Stephen J. Redmond Heba Khamis Benjamin Xia Stephen J. Redmond
An important capability of humans when performing dexterous precision gripping tasks is our ability to feel both the weight and slipperiness of an object in real-time, and adjust our grip force accordingly. In this paper, we present for the first time a fully-instrumented version of our PapillArray tactile sensor concept, which can sense grip force, object weight, and incipient slip and friction, ...