Principal Investigator Mandayam Srinivasan
Project Website http://touchlab.mit.edu/oldresearch/areas/motoraction/index.html
To quantify human control of forces, we have conducted experiments under a wide variety of conditions: (1) Tracking of visual displays of static and dynamic force traces with a stationary fingerpad (isometric case), (2) Maintaining constant contact force on a moving robot end-effector (isotonic case), (3) sensing and control of torque applied on the shaft of an "Instrumented Screw Driver", and (4) Control of grasp forces on an "Active Instrumented Object". The data from each of these experiments have been analyzed with the viewpoint of developing engineering specifications of human haptic performance.