2A1-C10 A study on evaluation of grasping easiness of cylinder object : Consideration of the stability of grasping against the external torque(Sense, Motion and Measurement(1))

Abstract

This article treats with estimation and quantification of "grasping-easiness". We focused on the distribution of grasping pressure on the object and robustness of holding state of the object against external torque. We investigated the deviation of holding posture angle of the cylinder object with various diameters and tried to evaluate grasping-easiness quantitatively.