Scale-Dependent Enveloping Grasps - Inspired by Human Grasping

Abstract This paper discusses the scale-dependent enveloping grasp. Human unconsciously changes the grasp strategy according to the sixe of objects, even though they have similar geometry. In wrapping a cylindrical object placed on a table, the grasping process by human can be roughly classified into three patterns according to the object's size. For a large cylindrical object, human wraps it directly without any regTasping process. As the diameter decreases, human begins to use the slip between finger link and the object. For a further small diameter, human first picks it up by finger tips and then makes grasp transition from finger tip to wrapping. We extract the essential motions from human grasping by utilizing the idea of virtual finger. A practical procedure for achieving an enveloping grasp is also presented especially for the second grasp pattern that utilizes the slipping motion.

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