A new interaction force decomposition maximizing compensating forces under physical work constraints

Schmidts, Alexander M.; Schneider, Manuel; Peer, Angelika

Abstract

Decomposition of interaction forces in manipulation tasks has a long research tradition. Interaction forces are often split into robustness-reflective and accelerating forces. While this decomposition is typically performed for the synthesis of interaction forces to be applied for example in the context of robotic grasping, less attention has been paid to the analysis of measured, human interaction forces. Here we present a new decomposition approach for interaction force analysis. It extends the intuitive solution known in literature for the two finger grasp and combines it with a physically motivated bounding constraint, which allows the maximization of robustness reflective forces. Advantages of our approach are illustrated with an example and are compared to existing decomposition approaches. In contrast to existing approaches the new approach is not limited in the number of interaction points and incorporates forces which are physically possible only.

• Report Type: Technical Report
• Publication Date: Sep 13, 2013
• Deposit Date: Oct 2, 2015
• Publicly Available Date: Feb 10, 2016
• Peer Reviewed: Not Peer Reviewed
• Keywords: interaction force decomposition, work constraints
• Public URL: https://uwe-repository.worktribe.com/output/927787
• Contract Date: Feb 10, 2016