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Research Paper #768

Title:Dextrous Hand Grasping Strategies Using Preshapes and Digit Trajectories
Authors:Wren,DO; Fisher,RB
Date:Aug 1995
Presented:Presented at the IEEE International Conference on Systems, Man and Cybernetics, Vancouver, 1995.
Abstract:Inspired by human grasping behaviour, use of hand preshapes has for some time been recognized as a useful way of reducing the complexity of planning grasps for a dextrous hand. We define four types of task-specific preshape and two modes of digit closure, and give criteria for the choice and positioning of the preshapes, based on intersecting digit trajectories with the graspable surfaces of the object. Grasps are planned in simulation using real range data from a laser striper and an anthropomorphic hand model. Our results show that a range of polyhedral and curved objects can be grasped using relatively simple, fast algorithms when the hand movements are constrained in this way.

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