Grasp Strategy Simplified by Detaching Assist Motion (DAM)

For a small object placed on a table, human easily captures it within the hand by changing the finger posture from upright to curved ones after each finger makes contact with the object. A series of this motion is called as Detaching Assist Motion (DAM). This paper discusses a generalized grasp strategy where a multi-fingered robot hand can approach an object and finally envelop it, irrespective of the size of object.

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