This study aimed to identify and qualify grasp-types used by patients with stroke and determine the clinical parameters that could explain the use of each grasp. Thirty-eight patients with chronic stroke-related hemiparesis and a range of motor and functional capacities (17 females and 21 males, aged 25-78), and 10 healthy subjects were included. Four objects were used (tissue packet, teaspoon,...

The purpose of the current study was to investigate the contribution of upper and lower arm torsion to grasp orientation during a reaching and grasping movement. In particular, we examined how the visuomotor system deals with the conflicting demands of coordinating upper and lower arm torsion and maintaining Donders' Law of the upper arm (a behavioral restriction of the axes of arm rotation to ...

Several approaches with interesting results have been proposed over the years for robot grasp planning. However, industry suffers from lack of an intuitive and reliable system able to automatically estimate poses while also allowing integration information accumulated knowledge end user. In presented paper it is a non-object-agnostic grasping pipeline motivated by picking use cases aerospace in...

Robotic grasping in unstructured environments requires the ability to adjust and recover when a pre-planned grasp faces imminent failure. Even for a single object, modeling uncertainties due to occluded surfaces, sensor noise and calibration errors can cause grasp failure; cluttered environments exacerbate the problem. In this work, we propose a simple but robust approach to both pre-touch gras...

This paper proposes a new approach to using machine learning to detect grasp poses on novel objects presented in clutter. The input to our algorithm is a point cloud and the geometric parameters of the robot hand. The output is a set of hand poses that are expected to be good grasps. There are two main contributions. First, we identify a set of necessary conditions on the geometry of a grasp th...

Here, we present an update on the Genome-Wide Repository of Associations between SNPs and Phenotypes (GRASP) database version 2.0 (http://apps.nhlbi.nih.gov/Grasp/Overview.aspx). GRASP is a centralized repository of publically available genome-wide association study (GWAS) results. GRASP v2.0 contains ∼ 8.87 million SNP associations reported in 2082 studies, an increase of ∼ 2.59 million SNP as...

We develop means of learning and representing object grasp affordances probabilistically. By grasp affordance, we refer to an entity that is able to assess whether a given relative object-gripper configuration will yield a stable grasp. These affordances are represented with grasp densities, continuous probability density functions defined on the space of 3D positions and orientations. Grasp de...