Grip Force Control During Virtual Interaction With Deformable and Rigid Objects Via a Haptic Gripper

Most studies of grip force control focus on the manipulation of rigid objects. However, in virtual and teleoperation applications, objects are often elastic in the pinch degree-of-freedom, and are manipulated using a handle that presents haptic feedback to the user. When designing controllers for haptic grippers, it is crucial to understand how grip force is controlled when manipulating rigid and ...