Taxonomy based analysis of force exchanges during object grasping and manipulation

Taxonomy based analysis of force exchanges during object grasping and manipulation

The flexibility of the human hand in object manipulation is essential for daily life activities, but remains relatively little explored with quantitative methods. On the one hand, recent taxonomies describe qualitatively the classes of hand postures for object grasping and manipulation. On the other hand, the quantitative analysis of hand function has been generally restricted to precision grip...

Analysis of grip forces during object manipulation

Static analysis of deformable object grasping based on bounded force closure

A static analysis of deformable object grasping based on bounded force closure is presented. There are many manipulative operations that deal with deformable objects in manufacturing processes. Manipulative operations for these objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the objects during th...

Capturing Human Hand Kinematics for Object Grasping and Manipulation

A Biologically Inspired Sensor for the Prevention of Object Slip during Robotic Grasping and Manipulation

In this paper, we present an overview of our work in the development, realization, dynamic analysis, and simulation of an innovative sensing method for the prevention of object slip during robotic grasping and manipulation. The new sensor is biologically inspired, and measures the extension of a rubber skin to detect impending slip before it occurs, and to provide feedback for active control of...