Flexible Control of Safety Margins for Action Based on Environmental Variability.

@article{Hadjiosif2015FlexibleCO,
  title={Flexible Control of Safety Margins for Action Based on Environmental Variability.},
  author={Alkis M. Hadjiosif and Maurice A. Smith},
  journal={The Journal of neuroscience : the official journal of the Society for Neuroscience},
  year={2015},
  volume={35 24},
  pages={9106-21}
}
To reduce the risk of slip, grip force (GF) control includes a safety margin above the force level ordinarily sufficient for the expected load force (LF) dynamics. The current view is that this safety margin is based on the expected LF dynamics, amounting to a static safety factor like that often used in engineering design. More efficient control could be achieved, however, if the motor system reduces the safety margin when LF variability is low and increases it when this variability is high… CONTINUE READING
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