In this paper, we propose a hierarchical control method for manipulation/grasping tasks using multi-fingered robot hands. This method imitates human motion control. Human motion can be divided into two classes, reflex and voluntary movement. Reflex is suppressed by voluntary movement. In the proposed method, a robot hand’s grasping control corresponds to human reflex and manipulation control co...

Grasping requires translating object geometries into appropriate hand shapes. How the brain computes these transformations is currently unclear. We investigated three key areas of the macaque cortical grasping circuit with microelectrode arrays and found cooperative but anatomically separated visual and motor processes. The parietal area AIP operated primarily in a visual mode. Its neuronal pop...

A holistic task based grasping system requires the use of perception modules that are tied with knowledge representation systems in order to provide optimal solutions. Task based grasping has been a well-researched field. One of the most comprehensive systems for task based grasping is the KCoPMan system that uses semantic information in mapping and planning for grasping. However, this system a...

It has been suggested that the metrics of grasping movements directed to visible objects are controlled in real time and are therefore unaffected by previous experience. We tested whether the properties of a visually presented distractor object influence the kinematics of a subsequent grasping movement performed under full vision. After viewing an elliptical distractor object in one of two diff...

Permethrin and Cypermethrin are synthetic pyrethroids, belonging to a group of insecticides with low mammalian toxicity and high insecticidal activity. The present study evaluated sub-acute toxicity of dermally administrated permethrin and cypermethrin in mice. Behavioral examination included assessments of lethality, weight gain, grooming, analgesymetry, anxiety, grasping, motor activity, and ...