Food packing industries typically use seasonal ingredients with immense variety that factory workers manually pack. For small pieces of food picked by volume or weight tend to get entangled, stick clump together, it is difficult predict how intertwined they are from a visual examination, making challenge grasp the requisite target mass accurately. Workers rely on combination weighing scales and...

This paper presents a grasping strategy of unknown objects imitating human grasping reflex for anthropomorphic robot hands. In the proposed grasping, each joint of the thumb and the fingers is controlled independently using the contact force affecting its adjacent fingertip side link. By setting a suitable contact force, both fingertip grasping and enveloped grasping with uniform grasping force...

This paper proposes the use of artificial neural networks (ANNs) in the framework of a biomechanical hand model for grasping. ANNs enhance the model capabilities as they substitute estimated data for the experimental inputs required by the grasping algorithm used. These inputs are the tentative grasping posture and the most open posture during grasping. As a con...

Animals spontaneously initiate goal-directed behavior including foraging action based on their appetitive motivation. The American lobster Homarus americanus exhibits grasping behavior with its crusher claw as feeding behavior that can be initiated after appropriate operant conditioning. In order to quantitatively characterize the goal-directed grasping behavior with a time resolution fine enou...