This paper addresses the problem of contact force control for multiple contacts distributed over multiple links in a robot. This is of importance when performing complex tasks in unstructured environment, particularly in humanoid robot applications. The proposed multicontact control framework provides a new way of defining the operational space coordinates, which facilitates the specification o...

Compared with rigid objects, grasping and lifting compliant objects presents additional uncertainties. For any static grasp, forces at the fingertips depend on factors including the locations of the contact points and the contact forces must be coordinated to maintain equilibrium. For compliant objects, the locations and orientations of the contact surfaces change in a force-dependent manner, t...

A model for physically based synthesis of collision sounds is proposed. Attention is focused on the non-linear contact force, for which both analytical and experimental results are presented. Numerical implementation of the model is discussed, with regard to accuracy and efficiency issues. As an application, a physically based audio effect is presented.

Neutrophil capture and recruitment from the circulation requires the formation of specific receptor/ligand bonds under hydrodynamic forces. In the present study we examine bond formation between beta2-integrins on neutrophils and immobilized ICAM-1 while using micropipettes to control the force of contact between the cell and substrate. Magnesium was used to induce the high affinity conformatio...

In this paper, a novel force tracking impedance control strategy is presented in which target stiffness is varied on-line to regulate the desired contact force without any knowledge of the environment. Humans can control contact force by adjusting their arm stiffness. The contact force can be either increased by making one’s arm stiffer or decreased by reducing the arm stiffness. Furthermore, h...

This paper focuses on a method of estimating contact force dynamically between environment and an object, which is grasped by the soft planar fingers with tactile sensors. The external contact force acting on the grasped object causes the tactile sensors to generate the displacement distributions and the force distributions. We present a method of dynamic tactual image acquisitions for both dis...

During micro-assembly processes, surface forces influence the behavior of micro-objects more than volumic forces. Generally contacts happen between a microgripper and a micro-objet or a substrate and a micro-object. The pull-off force which represents the force required to break a contact is one of the predominant problem in micro-assembly. Now, current force measurements are mostly focused on ...

Contact lenses (CLs) are of common use and the biocompatibility, topography and mechanical properties of the used materials are of major importance. The objective of this contribution is to apply the AFM in mode Peak Force to obtain surface topography and mechanical characteristics of un-worn CLs of different materials. One material of hydrogel, two of siloxane-hydrogel and one of rigid gas-per...

In this paper, we report on a 15-cantilever-type, force-sensormounted palatal plate capable of high sensitivity and accurate measurements of the palatolingual contact pressure and pattern that occur during consonant phonation. This paper also describes measurements of tongue force based on the results of the palatolingual contact pressure measurements that the 15-cantilever-type, force-sensor-m...

The efficiency of the automatic execution of complex assembly tasks can be enhanced by the identification of the contact state. In this paper we derive a new method for testing a hypothesized contact state using force sensing in the presence of sensing and control uncertainty. The hypothesized contact state is represented as a collection of elementary contacts. The feasibility of the elementary...