o b j e c t. T h e y d e m o n s t r a t e t h a t a r o b o t c a n s u c c e s s f u l l y g r a s p t h e o b j e c t t h a t

This letter presents a novel small gripper capable of grasping various types small-sized items from flat surfaces for the assembly devices. Using single actuator, proposed realizes two modes: parallel-grip and turn-over modes. The gripper's mode can be switched via contact with surface, such as table. Handling thin thicknesses light weights are key challenges faced in attempts to grasp items. A...

This paper presents a methodology and first results obtained in a study with a novel device that allows the analysis of grasping quality. Such a device is able to acquire motion information of upper limbs allowing kinetic of manipulation analysis as well. A pilot experiment was carried out with six groups of typically developing children aged between 5 and 10 years, with seven to eight children...

The present study discusses the presence of different constraints on action selection during object use versus object transport. Sixteen left brain-damaged (LBD) patients, 10 right brain-damaged (RBD) and 35 healthy controls were examined on a grip preference test consisting of a grasping-to-transport and a grasping-to-use condition. Assessment included a general praxis testing (pantomime produ...

Observations of human grasping 8] 7] have shown two phases: during the reaching phase of grasping, the hand preshapes in order to prepare the \shape matching" with the object to grasp, that is the following adjusting phase. Planning grasping with dextrous robotics hands can not be summarized to these two phases. We have to split the grasping process into several phases (frequently overlapped), ...

Learning techniques in robotic grasping applications have usually been concerned with the way a hand approaches to an object, or with improving the motor control of manipulation actions. We present an active learning approach devised to face the problem of visually-guided grasp selection. We want to choose the best hand configuration for grasping a particular object using only visual informatio...

We built a highly compliant, underactuated, robust and at the same time dexterous anthropomorphic hand. We evaluate its dexterous grasping capabilities by implementing the comprehensive Feix taxonomy of human grasps and by assessing the dexterity of its opposable thumb using the Kapandji test. We also illustrate the hand’s payload limits and demonstrate its grasping capabilities in real-world g...

A Robot, from its very name, literally means “forced labor”. To live up to this title, an ability to interact with milieu is crucial. A robot should be able to manipulate objects. With a hand capable of grasping, a robot is blessed with greater degree of influent. Complex manipulation and maneuver are possible with grasping. Moreover, grasping allows robot to use tools readily available for hum...

Object grasping and manipulation pose major challenges for perception and control and require rich interaction between these two fields. In this paper, we concentrate on the plethora of perceptual problems that have to be solved before a robot can be moved in a controlled way to pick up an object. A vision system is presented that integrates a number of different computational processes, e.g. a...