Three experiments were conducted to investigate the control of the manipulation (i.e., finger-thumb aperture) and transportation (i.e., wrist velocity) components in prehensile movement (Jeannerod, 1981, 1984). In all experiments, subjects were seated and instructed to grasp a dowel mounted on a joystick following a discrete movement over a set distance. Thus, the amount of dowel movement follo...

Non-prehensile manipulation, such as pushing, is an important function for robots to move objects and is sometimes preferred as an alternative to grasping. However, due to unknown frictional forces, pushing has been proven a difficult task for robots. We explore the use of reinforcement learning to train a robot to robustly push an object. In order to deal with the sample complexity of training...

During the regeneration of the tail in the arboreal New Zealand gecko (Hoplodactylus maculatus) a new set of tail scales, modified into pads bearing setae 5-20 μm long, is also regenerated. Stages of the formation of these specialized scales from epidermal pegs that invaginate the dermis of the regenerating tail are described on the basis of light and electron microscopic images. Within the peg...

The performance of patients with vascular parkinsonism (VPD) on a reach-to-grasp task was compared with that of patients affected by idiopathic Parkinson's disease (IPD) and age-matched control subjects. The aim of the study was to determine how patients with VPD and IPD compare at the level of the kinematic organization of prehensile actions. We examined how subjects concurrently executed the ...

Many useful tasks require both mobility and manipulation — one or more mobile robots must move to a given location and perform some task with an object there. Our research has focused on mobile robots with nonprehensile (i.e., nongrasping) manipulators. Such manipulators are mechanically simpler than their prehensile counterparts and have the additional advantage of being able to manipulate a w...