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...

OBJECTIVES Therapists generally describe a person's grasp in terms of normal prehension patterns that have been discussed in the literature. However, the grasp pattern used by a person with a hand impairment may not fit into these patterns. The purpose of this study was to describe, with qualitative classification systems, static grasp patterns used by hands impaired by scleroderma and to deter...

In the near future, more and more robots will be used for servicing tasks, tasks in hazardous environments or space applications. Dextrous hands are a powerful and flexible tool to interact with real world environments that are not specially tailored for robots. In order to grasp and manipulate real world objects, grasp planning systems are required. To be integrated in online planning systems ...

The human hand is the most complete tool, able to adapt to different surfaces and shapes and touch and grasp. It is a direct connection between the exterior world and the brain. I. Kant (German philosopher) defined how the hand is an extension of the brain. In this paper we present and develop a new algorithm for grasp any object in a virtual environment (VE). The objective is to present a nove...

OBJECTIVE To describe a novel feedback device (Grasp Rehabilitation Accessory for Stroke Patients [GRASP]) that gives feedback on the time lag between the start of hand opening and the start of transport during reach-to-grasp movements, and to report the results of a preliminary series of single case studies to assess the utility of the device for improving the coordination of arm and hand at t...

Redundancy identification and removal is a critical step that typically follows logic synthesis or optimization. In principle, it should be possible to restrict the transformations applied by synthesis and optimization algorithms to those that preserve testability. In practice, however, few, if any, synthesis programs can guarantee the irredundancy of the logic circuits they produce. It may als...