BACKGROUND Secure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces. METHODS A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-gra...

SYNOPSIS This paper is a mini review of kinetic and kinematic evidence on the control of the hand with emphasis on grasping. It is not meant to be an exhaustive review, rather it summarizes current research examining the mechanisms through which specific patterns of coordination are elicited and observed during reach to grasp movements and static grasping. These coordination patterns include th...

Here, we present the design, fabrication, and evaluation of a prismatic-revolute-revolute joint hand called the model B that we developed for grasping from ungrounded vehicles. This hand relies on a prismatic proximal joint followed by revolute distal joints in each finger and is actuated by a single motorand a tendon-based underactuated transmission. We evaluate this design’s grasping capabili...

In human-human communications, especially in face-to-face communication, sub-verbal and non-verbal messages have more importance than messages transported by words. On the other hand, in traditional manmachine interfaces, machines only understand pre-defined operations, and never understand operators’ sub-verbal and non-verbal messages. This causes some usability problems in machine operations....

When we act, we intend to reach a goal. Conversely, when we observe someone else act, we can often infer their intentions. Fogassi et al. (p. 662; see the Perspective by Nakahara and Miyashita) found that in the inferior parietal lobule of an individual about to begin an action, the goal of their action (e.g., grasping for food versus grasping a branch) is reflected in the discharge of the neur...

We focus on selecting handover configurations that result in low human ergonomic cost not only at the time of handover, but also when the human is achieving a goal with the object after that handover. People take objects using whatever grasping configuration is most comfortable to them. When the human has a goal pose they’d like to place the object at, however, the most comfortable grasping con...

In recent years a number of neuroprostheses have been developed and used to assist stroke and spinal cord injured subjects to restore or improve grasping function. These neuroprostheses clearly demonstrated that the targeted group of subjects can significantly benefit from this technology and that functional electrical stimulation (FES) is a viable method for restoring or improving grasping fun...

In studying grasping and manipulation we find two very different approaches to the subject: knowledge-based approaches based primarily on empirical studies of human grasping and manipulation, and analytical approaches based primarily on physical models of the manipulation process. This chapter begins with a review of studies of human grasping, in particular our development of a grasp taxonomy a...

The origin and evolution of manual grasping remain poorly understood. The ability to cling requires important grasping abilities and is essential to survive in species where the young are carried in the fur. A previous study has suggested that this behaviour could be a pre-adaptation for the evolution of fine manipulative skills. In this study we tested the co-evolution between infant carrying ...

Three experiments assessed the influence of the Ebbinghaus illusion on size judgments that preceded verbal, grasp, or touch responses. Prior studies have found reduced effects of the illusion for the grip-scaling component of grasping, and these findings are commonly interpreted as evidence that different visual systems are employed for perceptual judgment and visually guided action. In the cur...