In human grasping, choices are made on the use of hand-parts even before a grasp is realized. The human associates these choices with end-functionality and is confident that the resulting grasp will be able to meet task requirements.We refer to these choices on the use of hand-parts underlying grasp formation as the grasp intention. Modeling the grasp intention offers a paradigm whereby decisio...

In judo, making the opponent uncertain requires the mastery of several throws in 3 or 4 different directions and a firm grasp to secure the throw. The system of attacks for 28 judoka (18 men, 10 women) during their 185 respective matches over the competition season of 2001-2002 was analyzed. Practice was regional or interregional. The mean number of matches was 3.3+/-1.1. The mean number of suc...

Some people may be laughing when looking at you reading in your spare time. Some may be admired of you. And some may want be like you who have reading hobby. What about your own feel? Have you felt right? Reading is a need and a hobby at once. This condition is the on that will make you feel that you must read. If you know are looking for the book enPDFd getting to grips with clinical governanc...

This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defin...

This paper presents a novel regrasp control policythat makes use of tactile sensing to plan local grasp adjustments.Our approach determines regrasp actions by virtually searchingfor local transformations of tactile measurements that improvethe quality of the grasp.First, we construct a tactile-based grasp quality metricusing a deep convolutional neural network trained on...

This paper presents an adaptive compliant multi-finger grasp approach control strategy based on based on a new interpretation of the virtual spatial spring framework, to improve the grasp performance for target objects with position errors. An n-finger virtual spatial spring frame is proposed to achieve the adaptive compliant grasp control. Twofinger grasp control based on a single virtual spri...

Visual features act as an important part for hand pre-shaping during human grasp. This paper focuses on using visual features in an image to predict successful grasp types, which can be used in the robot grasp manipulation. The following questions are discussed: First, how to recognize different shapes in a given image. Second, how to train the system using image-grasp pairs. Third, evaluate th...

The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by \unit grasp force". In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. We also address a grasp optimality criterion...