2. Modellierung eines Produktionsautomatisierungssystems .........3 2.1. Der MFERT-Editor....................................................................3 2.1.1. Funktionsbeschreibung ...................................................................4 2.2. MFERT-Modelle .......................................................................5 2.2.1. Zweistufige Fertigung mit Palettenund Wer...

People will often grasp an object with an uncomfortable initial grasp if this affords more comfort at the end of the movement. The authors' primary objective was to examine whether grasp planning is influenced by precision demands at the start and end of the movement. Twenty right-handed individuals performed a unimanual grasping and placing task in which the precision requirements at the start...

BACKGROUND Neurophysiological studies showed that in macaques, grasp-related sensorimotor transformations are accomplished in a circuit connecting the anterior intraparietal sulcus (area AIP) with premotor area F5. Single unit recordings of macaque indicate that activity of neurons in this circuit is not simply linked to any particular object. Instead, responses correspond to the final hand con...

We address the issue of learning and representing object grasp affordance models. We model grasp affordances with continuous probability density functions (grasp densities) which link object-relative grasp poses to their success probability. The underlying function representation is nonparametric and relies on kernel density estimation to provide a continuous model. Grasp densities are learned ...

Humans demonstrate remarkable capabilities to use a variety of grasp strategies for a given object depending on the context of the task often referred to as grasp affordances in dexterous hands. The interplay among the nervous system, the morphology of the human hand, and the properties of the object to demonstrate these advanced grasp affordance skills are not well understood yet. A key hypoth...

Interactions between the ventral premotor (PMv) and the primary motor cortex (M1) are crucial for transforming an object's geometrical properties, such as its size and shape, into a motor command suitable for grasp of the object. Recently, we showed that PMv interacts with M1 in a specific fashion, depending on the hand posture. However, the functional connectivity between PMv and M1 during the...

OBJECTIVE Pencil grasps other than the dynamic tripod may be functional for handwriting. This study examined the impact of grasp on handwriting speed and legibility. METHOD We videotaped 120 typically developing fourth-grade students while they performed a writing task. We categorized the grasps they used and evaluated their writing for speed and legibility using a handwriting assessment. Usi...

Robotic grasp detection task is still challenging, particularly for novel objects. With the recent advance of deep learning, there have been several works on detecting robotic grasp using neural networks. Typically, regression based grasp detection methods have outperformed classification based detection methods in computation complexity with excellent accuracy. However, classification based ro...

This paper presents a novel robot grasping planning approach that extracts grasp strategies (grasp type, and thumb placement and direction) from human demonstration and integrates them into the grasp planning procedure to generate a feasible grasp concerning the target object geometry and manipulation task. Our study results show that the grasp strategies of grasp type and thumb placement not o...

GRASP with path-relinking (GRASP+PR) is a metaheuristic for finding optimal or near-optimal solutions of combinatorial optimization problems. This paper proposes a new automatic parameter tuning procedure for GRASP+PR heuristics based on a biased random-key genetic algorithm (BRKGA). Given a GRASP+PR heuristic with n input parameters, the tuning procedure makes use of a BRKGA in a first phase t...