Nested affordances in climbing comprise of multiple sequential actions, encompassing more than isolated reaching and grasping. This study examined the extent to which perception (multiple) nested can be understood relative body-scaled anthropometrics (arm span) action-scaled (maximal action capabilities) measures, relation task-goals varying complexity. The utilisation functionally equivalent a...

Accurately detecting suitable grasp areas for unknown objects through visual information remains a challenging task. Drawing inspiration from the success of Vision Transformer in vision detection, hybrid Transformer-CNN architecture robotic known as HTC-Grasp, is developed to improve accuracy grasping objects. The employs an external attention-based hierarchical encoder effectively capture glob...

Stability is one of the important properties that a robot hand grasp must possess to be able to perform tasks similar to those performed by human hands. This paper discusses the dynamic stability of a grasped object. To analyze the stability of grasps, we build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, we determine the conditions associa...

Robot grasping is often formulated as a learning problem. With the increasing speed and quality of physics simulations, generating large-scale data sets that feed algorithms becoming more popular. An overlooked question how to generate grasps make up these sets. In this paper, we review, classify, compare different grasp sampling strategies. Our evaluation based on fine-grained discretization S...

The aim of the present study was to ascertain the neural correlates for the integration of visual information with the control of the reach-to-grasp action in the healthy human brain. Nine adult subjects (18-38 years; four females and five males) were scanned using functional magnetic resonance imaging while reaching-to-grasp a three-dimensional target. Results demonstrated differential activat...

A novel approach for evaluation of a grasp in humans is presented. The key novelty is combination of a haptic interface with force/torque transducers for measuring the grasp force. This paper presents results of grasp and load force coordination for quasi-static and dynamic external load force disturbances for a power grasp. An elevation of the grasp force is observed in a dynamic task. Elevati...