Visual field preferences of object analysis for grasping with one hand

Visual field preferences of object analysis for grasping with one hand

When we grasp an object using one hand, the opposite hemisphere predominantly guides the motor control of grasp movements (Davare et al., 2007; Rice et al., 2007). However, it is unclear whether visual object analysis for grasp control relies more on inputs (a) from the contralateral than the ipsilateral visual field, (b) from one dominant visual field regardless of the grasping hand, or (c) fr...

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...

Shape analysis and hand preshaping for grasping

Observations of human grasping 8] 7] have shown two phases: during the reaching phase of grasping, the hand preshapes in order to prepare the \shape matching" with the object to grasp, that is the following adjusting phase. Planning grasping with dextrous robotics hands can not be summarized to these two phases. We have to split the grasping process into several phases (frequently overlapped), ...

Capturing Human Hand Kinematics for Object Grasping and Manipulation