this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

A novel approach for evaluation of a grasp in humans is presented. The key novelty is combination of a haptic interface with force/torque transducers for measuring the grasp force. This paper presents results of grasp and load force coordination for quasi-static and dynamic external load force disturbances for a power grasp. An elevation of the grasp force is observed in a dynamic task. Elevati...

Three groups of nondysfunctional adults were observed for atypical pencil grasps (i.e., nondynamic tripod grasps) used during functional writing situations: 58 occupational therapy students signing out equipment, 314 voters signing for their ballots, and 113 medical students taking a written examination. Among the total right-handed population, the most frequently used grasp was the dynamic tri...

A dynamic simulation method for enveloping power grasps is presented. The method very eeectively models all major grasp conditions and phenomena to achieve a realistic simulation of power grasp. A compliant contact model is developed to solve the static in-determinacy problem in multiple-contact power grasp. A dynamic simulation algorithm is developed based on a discrete-time, state variable ap...

The precise relationship of functional writing and pencil grasp has not been determined. Occupational therapists and educators have long recommended the mature dynamic tripod grasp. This grasp provides the most control of the pencil. Variations of this grasp (lateral tripod, dynamic quadrupod, adapted tripod) are common in children with legible handwriting. A grasp with an open web space betwee...

This paper describes libcgrpp, a GNU-style dynamic shared Python/C library of the continuous greedy randomized adaptive search procedure (C-GRASP) for bound constrained global optimization. C-GRASP is an extension of the GRASP metaheuristic (Feo and Resende, 1989). After a brief introduction to C-GRASP, we show how to download, install, configure, and use the library through an illustrative exa...

The objective of this study was to determine the effects of grasp conditions (types of grasp, grasp width, glove and types of coupling) on maximal pushing force (MPF) and required pinch force (RPF) during snap fit assembly. The results indicated that the type of grasp, the type of coupling and wearing gloves have significant (p