Abstract
This paper discusses how object information gives an influence on the predicted handling force applied to the object. Object information includes a short-term memory and a prior-information, that is experience on handling a similar object and the observed visual information. We especially deal with a gripping-object motion, where the surface EMG (sEMG) signals are measured and the predicted handling force is estimated and defined using the integrated EMG (iEMG), that is integrated immediately prior to the gripping-motion. Experimental results show that the predicted gripping force is closely related to the short-term memory and a prior-information or knowledge of the object.
