In the last ten years, various grasping principles and releasing techniques suitable for microassembly have been hypothesised and successfully tested. Since in microdomain adhesion forces overcome the gravity one, new grasping principles have been exploited to grasp microparts. Unfortunately, in microassembly the most critical phase is not to grasp a micropart, but to release it. Therefore, the...

The computational model presented here, Grasping Affordances (GA) model, provides a precise explication of the notion of affordance in the context of grasping actions carried out by monkeys. This explication is consistent with both direct perception theories and neuroscientific models of monkey brains, insofar as the identification of grasping affordances requires, according to this model, neit...

Analysis of human hand grasping operation provides information for developing robot hand grasping algorithms based on human knowledge and experience. Hand grasping analysis involves finger movement and contact force acting on the fingertips. We present a master hand put on a human hand to measure fingertip movement and contact force acting on the human fingertips. The master hand consists of se...

In this paper, in order to understand mechanical grasping at the nanoscale, contact mechanics between nanogrippers and nanoobjects is studied. Contact models are introduced to simulate elastic contacts between various profiles of a flat surface, sphere and cylinder for different types of nanoobjects and nanogrippers. Analyses and evaluation instances indicate that friction forces, commonly used...

Recent works have reported that grasping movements are controlled not only by the dorsolateral visual stream, as generally thought, but also by the dorsomedial visual stream, and in particular by the medial posterior parietal area V6A. To date, the grasping activity of V6A neurons has been studied only in darkness. Here we studied the effect of visual feedback on grasp-related discharges of V6A...

We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus Xtion) and tactile perception (Robotic Materials), to reduce the uncertainty in sensing and actuation. We demonstrate the importance of tactile sensing and r...

In this paper, we describe an innovative, pneumatically-actuated haptic feedback glove. We also examine the effect of haptic feedback from that device on a test subject’s ability to properly grasp a virtual remote object. Two parameters relevant to grasping were examined: success and force control. The success parameter is a indication of whether the virtual object was grasped, not grasped or d...

In this paper, we present a method for representing and re-targeting manipulations for object adjustment before final grasping. Such pre-grasp manipulation actions bring objects into better configurations for grasping through e.g. object rotation or object sliding. For this purpose, we propose a scaling-invariant and rotation-invariant representation of the hand poses, which is then automatical...

Recent insights into human grasping show that humans exploit constraints to reduce uncertainty and reject disturbances during grasping. We propose to transfer this principle to robots and build robust and reliable grasping strategies from interactions with environmental constraints. To make implementation easy, hand hardware has to provide compliance, low inertia, low reaction delays and robust...

there have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. however undesired slippage can occur due to environmental conditions and many other reasons. in this research, dynamic analysis and control synthesis of a cooperating ...