System Identification of the Human Hand Grasping a Haptic Knob

H
HAPTICS
2002
10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Abstract - System Identification of the Human Hand Grasping a Haptic Knob

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	Similar Articles Articles by Christopher J. Hasser Articles by Mark R. Cutkosky

10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

Orlando, Florida

March 24-March 25

ISBN: 0-7695-1489-8

	ASCII Text	x
	Christopher J. Hasser, Mark R. Cutkosky, "System Identification of the Human Hand Grasping a Haptic Knob," Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on, pp. 180, 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002.

	BibTex	x
	@article{ 10.1109/HAPTIC.2002.998957, author = {Christopher J. Hasser and Mark R. Cutkosky}, title = {System Identification of the Human Hand Grasping a Haptic Knob}, journal ={Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on}, volume = {0}, year = {2002}, isbn = {0-7695-1489-8}, pages = {180}, doi = {http://doi.ieeecomputersociety.org/10.1109/HAPTIC.2002.998957}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on TI - System Identification of the Human Hand Grasping a Haptic Knob SN - 0-7695-1489-8 SP EP A1 - Christopher J. Hasser, A1 - Mark R. Cutkosky, PY - 2002 VL - 0 JA - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on ER -

Christopher J. Hasser, Immersion Corporation and Stanford University

Mark R. Cutkosky, Stanford University

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/HAPTIC.2002.998957

Accurate dynamic models of human hands grasping haptic devices can help to inform stability analyses, control algorithms, device design, and technology development efforts. The current study develops and tests a lumped second-order dynamic model for nine subjects holding a haptic knob in a simple pinch grasp. Results include steadily increasing damping and stiffness parameters with increasing grip force, and compare well to the findings of earlier investigators. Moment of inertia estimates, expected to remain constant, dropped for very large grip forces, illustrating limitations in the second-order model.

Citation:

Christopher J. Hasser, Mark R. Cutkosky, "System Identification of the Human Hand Grasping a Haptic Knob," haptics, pp.180, 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002

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