In this paper a new high-speed vision device and its application to a grasp system is proposed, and we discuss a processing architecture for grasping based on visual and tactile feedback designed with real-time control in mind. First, we describe a high-speed vision chip that serves as a robotic eye that includes a general-purpose parallel processing array along with a photo-detector all on a s...

OBJECTIVE The purpose of this study was to investigate the effect of haptic attributes of objects on infants' grasping patterns and evaluate whether this effect is influenced by the infant's age (i.e., phase of motor development). METHOD Grasping patterns of 180 infants who were typically developing were measured by the Posture and Fine Motor Assessment of Infants (PFMAI); the PFMAI-I was adm...

We studied pre-movement cortical activity related to praxic actions performed at self-paced rate and having ecological meanings and functions. Motor-related cortical potentials were recorded using 64-channels EEG in two experiments. Experiment 1 included 15 subjects performing in separate blocks two object-oriented actions: grasping a tea-cup and impossible grasping of a tea-cup (same goal but ...

One of the basic skills for a robot autonomous grasping is to select the appropriate grasping point for an object. Several recent works have shown that it is possible to learn grasping points from different types of features extracted from a single image or frommore complex 3D reconstructions. In the context of learning through experience, this is very convenient, since it does not require a fu...

In the literature, studies on dexterous manipulators are mainly focused on multi-finger multi-joint structures. These manipulators often have difficulties with grasping heavy objects due to the delicateness and complexity of the structures. This paper describes the authors’ attempt on implementing dexterous grasping on a traditional two-single-jointfinger hydraulic manipulator. Hydraulic driven...

Goodale et al. (1991) reported a striking dissociation between vision for perception and action. They examined DF, a human patient who had damage to her ventral visual stream and suffered from visual form agnosia. She was unable to perceive an object's size but could match the opening of her hand to the object's size during grasping. It was concluded that grasping relied on a separate represent...

A scheme for learning to grasp objects using visual information is presented. A system is considered that coordinates a parallel-jaw gripper (hand) and a camera (eye). Given an object, and considering its geometry, the system chooses grasping points, and performs the grasp. The system learns while performing grasping trials. For each grasp we store location parameters that code the locations of...

Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in explorin...

Although instrument playing-based training has been repeatedly reported to improve functional hand movements including grasping, the attempts to present quantitative information on physiological mechanism of grasping have been relatively insufficient to determine the type and the intensity of the exercises involved. This study aimed to examine the muscle activation during hand percussion playin...

The grasping and stabilization of a tumbling, non-cooperative target satellite by means of a free-flying robot is a challenging control problem, which has been addressed in increasing degree of complexity since 20 years. A novel method for computing robot trajectories for grasping a tumbling target is presented. The problem is solved as a motion planning problem with nonlinear optimization. The...