Grasp Stability Evaluation for Manipulation

Grasp selection for simple manipulation tasks

Manipulation tasks are sequential in nature. Depending on the specific task constraints, more than one solution usually exist. Even for simple objects, several candidate grasps can be considered, each of which can potentially be used to plan the required arm motions. Grasp selection approaches that take into account the constraints at each task step are critical, since they allow to both identi...

Grasp Recognition and Manipulation with the Tango

We describe a novel user interface for natural, whole hand interaction with 3D environments. Our interface uses a graspable device called the Tango, which looks like a ball but measures contact pressures on its surface at 256 tactual elements (taxels) at a high rate (100 Hz). The acceleration of the device is also measured. The key idea is to use this information to recognize the shape and move...

Dextrous manipulation planning by grasp transformation

Passive Reaction Analysis for Grasp Stability

In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints, respond in such a way as to preserve quasi-static equilibrium? In particular, we assume that there is no change in the joint torques being actively exerted b...

Control of grasp stability in humans under different frictional conditions during multidigit manipulation.

Control of grasp stability under different frictional conditions has primarily been studied in manipulatory tasks involving two digits only. Recently we found that many of the principles for control of forces originally demonstrated for two-digit grasping also apply to various three-digit grasps. Here we examine the control of grasp stability in a multidigit task in which subjects used the tips...