Hand width estimation: Examining change in observation distance and grasping object

Estimation of hand preshaping during human grasping.

A new method for evaluating hand preshaping during reaching-to-grasp movement is proposed. The method makes use of all five fingers in estimation of prehension. The investigation was performed on six healthy subjects grasping three different objects at various positions and orientations. The objects were presented to the subjects by means of a robot, which also induced perturbations in both obj...

Observation of action: grasping with the mind's hand.

Engagement of the primary motor cortex (MI) during the observation of actions has been debated for a long time. In the present study, we used the quantitative 14C-deoxyglucose method in monkeys that either grasped 3-D objects or observed the same movements executed by humans. We found that the forelimb regions of the MI and the primary somatosensory (SI) cortex were significantly activated in b...

Capturing Human Hand Kinematics for Object Grasping and Manipulation

Stable Object Grasping with Dextrous Hand in Three-dimension

This paper considers a grasp planning scheme for dextrous hands. The grasp is assumed to be a precise one, which means that only the fingertips of the hand are in contact. The most important algorithm of the grasp planner is the placement of contact points in the presence of friction. Based on a heuristic search, a number of grasp configurations are generated. A proposed method for evaluation o...

Object Grasping with Multifingered Hand Using Variable Stiffness Compliance Control

In this paper, we propose a control system for object grasping tasks performed by the multifingered robot hand. Unlike previous systems, which were built using force control based on mechanical and dynamic analyses, this system is built using position control. The variable stiffness compliance control we propose is used as the grasp controller, and the system is able to perform all approach, co...