I review three papers in the area of dexterous manipulation by machines. These papers focus on different stages of the process of grasping an object. The first describes a method for generating a suitable hand pose to grasp an object at a given set of contact points. The second describes a method for adapting an example manipulation task from a given object to a new object. The third describes ...

This paper describes a method for manipulating a threedimensional object without considering conventional three independent orthogonal views. We apply the direct manipulation to operate the three-dimensional object. We propose “augmented manipulation” which is an enhanced direct manipulation technique by using additional information. We implement three-dimensional modeling tool “Claymore” by us...

We describes a method for manipulating a threedimensional object without considering conventional three independent orthogonal views. We apply the direct manipulation method to operate the threedimensional object. We propose \augmented manipulation" method which is an enhanced direct manipulation technique by using additional information. We implement three-dimensional modeling tool \Claymore" ...

This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the man...

Direct manipulation is the operation in which users' operations directly invoke the reaction of the system (Shneiderman 1986). We apply the direct manipulation technique to operate a three-dimensional object. Some works on editing a three-dimensional object by using the direct manipulation technique have been proposed. But they require a special input device. We think it is beneficial to make u...

We describe research at the Stanford Dextrous Manipulation Lab centered around haptic exploration of objects with robot hands. The research areas include object acquisition and manipulation and object exploration with robot ngers to measure surface features, textures and friction. We assume that the robot is semi-autonomous; it can receive guidance or supervision from humans regarding object se...

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of o...

This work describes a way of interactive manipulation of structured objects by interaction rules. Symbols are used as graphical representation of object states. State changes lead to different visual symbol instances. The manipulation of symbols using interactive devices lead to an automatic state change of the corresponding structured object without any intervention of the application. Therefo...

Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables (the nger joint, object,and contact velocities) need to be included in the di erential kinematic equation used for manipulation planning, even if the manipulation task is only speci ed in terms of the goal con guration of th...

This paper presents an efficient method to decide robust grasps given new objects using example-based learning. A robust grasp is a stable grasp, suitable for object manipulation. Adaptability to object manipulation is ensured by imitating the human choice of the object grasping component, its handle. Stability is obtained by computing contact points, ensuring force-closure property, on that ha...