Grasping
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Recent papers in Grasping
Questo lavoro propone un nuovo strumento psicometrico per diagnosticare l’aprassia ideomotoria. A partire da modelli cognitivi che assumono l’esistenza di due processi cognitivi per l’imitazione di gesti, distinti funzionalmente e... more
In this work, efficient design methods for robotic manipulators are initially investigated. Successively, the possibility of developing a flexible control architecture that allows for controlling different manipulators by using a... more
This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive... more
The paper argues that an account of understanding should take the form of a Carnapian explication and acknowledge that understanding comes in degrees. An explication of objectual understanding is defended, which helps to make sense of the... more
Motor activations reported during action-word understanding have raised the question as to whether the system for motor production contains semantically-relevant information. Cognitive neuropsychologists have provided compelling evidence... more
Although recently developed Electromyographybased (EMG) prosthetic hands could classify a significant amount of wrist motions, classifying 5-6 grasping patterns in real-time is a challenging task. The collaboration of EMG and vision has... more
In this paper, we present a methodology based on constrained optimization methods for estimating and compensating for post-contact parasitic object motions for underactuated compliant robot hands and for deriving stable, minimal effort... more
Abstract— In this article a robotic gripper with the ability of cylindrical object grasping is designed and fabricated. With the increasing use of robotic arms in industry, grasping and holding, as a part of industrial processes, are of... more
This thesis focuses on the design and development of an anthropomorphic, underactuated, personalized robot hand of low cost and weight. Human hand is the most versatile and dexterous end–effector known, so in this thesis we argue that... more
Object manipulation is a challenging task for robotics, as the physics involved in object interaction is com- plex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human... more
Perceptual estimates of three-dimensional (3D) properties, such as the distance and depth of an object, are often inaccurate. Given the accuracy and ease with which we pick up objects, it may be expected that perceptual distortions do not... more
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a new Center-of-Mass (CoM)-based grasp pose adaptation... more
It is generally accepted that vision first evolved for the distal control of movement and that perception or 'representational' vision emerged much later. Vision-for-action operates in real time and uses egocentric frames of reference and... more
ABSRACT Many of the robotic grasping researches have been focusing on stationary objects. And for dynamic moving objects, researchers have been using real time captured images to locate objects dynamically. However, this approach of... more
Grasping is one of a few adaptive mechanisms that, in conjunction with clinging, hooking, arm swinging, adhering, and flying, allowed for incursion into the arboreal eco-space. Little research has been done that addresses grasping as an... more
Many theories have been put forward to explain the origins of right-handedness in humans. Here we present evidence that this preference may stem in part from a right hand advantage in grasping for feeding. Thirteen participants were asked... more
In order for robots to expand their applicability within manufacturing operations, their dexterity needs to advance considerably. There is active research in many areas that is contributing to creating a new generation of much more... more
Previous developmental research suggests that motor experience supports the development of action perception across the lifespan. However, it is still unknown when the neural mechanisms underlying action-perception coupling emerge in... more