Human-Robot Interaction through an Object Grasped with Two Fingers Based on Plastic Deformation Control

In this study, two-finger grasping based on plastic deformation control for human-robot interaction is designed and implemented. This control strategy is derived based on the concept that balances both retention of grasping force on objects and plastic behavior in response to external forces. The control law consists of a set of constraints and offsets with respect to the springs that appear in the Maxwell model. In particular, the inner loop that is robust against parameter errors is implemented for actual machine experiments. Simulation and actual experiments with a robotic hand are executed to validate the proposed control law.