3 accepted papers
Grasping a simple object from the side is easy — unless the object is almost as big as the hand or space constraints require positioning the robot hand awkwardly with respect to the object. We show that humans — when faced with this challenge — adopt coordinated finger movements which enable them to…
In this paper we define two feature representations for grasping. These representations capture hand-object geometric relationships at the near-contact stage - before the fingers close around the object. Their benefits are: 1) They are stable under noise in both joint and pose variation. 2) They are…
We present a human-subjects study approach that supports the analysis of the manipulation performance of robotic hands that have the same morphology but different actuation and compliance. Specifically, we use this approach to analyze three different types of hands (one underactuated, one fully actu…