We measured the input-output properties of the hand grasps of 14 individuals with tetraplegia at the C5/C6 level who had received an implanted upper limb neuroprosthesis. The data provide a quantitative description of grasp-opening and grasp-force control with neuroprosthetic hand grasp systems. Static properties were estimated by slowly ramping the command (input) from 0 to 100%. A hand-held s...

A dynamic simulation method for enveloping power grasps is presented. The method very eeectively models all major grasp conditions and phenomena to achieve a realistic simulation of power grasp. A compliant contact model is developed to solve the static in-determinacy problem in multiple-contact power grasp. A dynamic simulation algorithm is developed based on a discrete-time, state variable ap...

When reaching to grasp, we coordinate how we preshape the hand with how we move it. To ask how motor cortical neurons participate in this coordination, we examined the interactions between reach- and grasp-related neuronal ensembles while monkeys reached to grasp a variety of different objects in different locations. By describing the dynamics of these two ensembles as trajectories in a low-dim...

During social interactions, how do we predict what other people are going to do next? One view is that we use our own motor experience to simulate and predict other people's actions. For example, when we see Sally look at a coffee cup or grasp a hammer, our own motor system provides a signal that anticipates her next action. Previous research has typically examined such gaze and grasp-based sim...

In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp points are usually near key parts of clothing, such as the waist of pants or the neck of a shirt. The proposed system attempts to detect these key parts fir...

Grasp-related responses in neurons of the macaque rostral inferior parietal lobule [PF/PFG and the anterior intraparietal area (AIP)] are modulated by task context. Event-related functional MRI was used to determine whether this is true in putative homologs of the human cortex, the rostral inferior parietal lobule (rIPL) and the anterior intraparietal sulcus (aIPS). Fifteen healthy, right-hande...

The authors examined the effects of perturbations in action goal on bimanual grasp posture planning. Sixteen participants simultaneously reached for 2 cylinders and placed either the left or the right end of the cylinders into targets. As soon as the participants began their reaching movements, a secondary stimulus was triggered, which indicated whether the intended action goal for the left or ...

Contemporary grasp detection approaches employ deep learning to achieve robustness sensor and object model uncertainty. The two dominant design either grasp-quality scoring or anchor-based recognition networks. This paper presents a different approach by treating it as keypoint in image-space. network detects each candidate pair of keypoints, convertible the representation g = { x, y, w, θ} T ,...