The presentation of a hand grasp facilitates the recognition of subsequent objects when the grasp is coherent with the object to be identified. This outcome is usually explained as the integration of two different processes: descriptive visual processes in ventral visual areas and processes in charge of the computations of action metrics in dorsal visual regions. With the aim to explore the tem...

We address the problem of grasping everyday objects that are small relative to an anthropomorphic hand, such as pens, screwdrivers, cellphones, and hammers from their natural poses on a support surface, e.g., a table top. In such conditions, state of the art grasp generation techniques fail to provide robust, achievable solutions due to either ignoring or trying to avoid contact with the suppor...

Adults with a history of unilateral amblyopia and abnormal binocularity have a range of visual deficits, with some of the 'higher' levels ones generalizing to their dominant (non-amblyopic) eye and linked to widespread binocular cortical network dysfunctions. Our interests are in how these problems also impact on their hand action control in real-world situations. We investigated whether eye-ha...

Prehension movements of the right hand were recorded in a right-handed man (AC), with an injury to the left posterior parietal cortex (PPC) and with a section of the left half of the splenium. The kinematic analysis of AC's grasping movements in direct and perturbed conditions was compared to that of five control subjects. A novel effect in prehension was revealed--a hemispace effect--in health...

This paper discusses static stability of a planar object grasped by multifingers with three joints. Each individual joint (prismatic joint or revolute joint) is modeled as a linear spring stiffness. The object mass and the link masses are also included. We consider not only pure rolling contact but also frictionless sliding contact. The grasp stability is investigated using the potential energy...