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Related Experiment Video

Updated: Jul 7, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
09:41

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

Synthesizing two-fingered grippers for positioning and identifying objects.

W H Qian1, Q Hong, S K Tso

  • 1Robotics Inst., Shanghai Jiaotong Univ.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|February 5, 2008
PubMed
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This study introduces a novel four-circle gripper that completely removes object pose uncertainty, unlike traditional two-fingered grippers. This advancement enables precise object identification in a single grasp.

Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Traditional industrial grippers, primarily two-fingered parallel-jaw designs, offer limited pose uncertainty reduction.
  • Existing grippers can partially mitigate orientation uncertainty but not completely remove it.
  • Object pose uncertainty remains a significant challenge in automated grasping and manipulation.

Purpose of the Study:

  • To introduce and analyze a novel four-circle gripper design.
  • To demonstrate the gripper's capability for complete pose uncertainty removal.
  • To explore the advantages of this new gripper configuration for object identification.

Main Methods:

  • Development of a novel gripper with four circular contact points per finger.
  • Application of grasp geometry principles to analyze form-closure properties.

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Last Updated: Jul 7, 2026

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  • Investigation of the key parameter: the span between pin centers on each finger.
  • Illustration of span selection and limitations based on object shape and closure requirements.

    • Main Results:

    • The four-circle gripper achieves form-closure, confining the object to a unique local pose.
    • Complete removal of object pose uncertainty, including orientation, is achieved.
    • The gripper allows free object movement within the grasp without losing friction.
    • Enhanced information acquisition facilitates object and grasp mode identification in a single grasp.

    Conclusions:

    • The four-circle gripper offers a significant advancement over traditional designs by eliminating pose uncertainty.
    • This novel gripper enables more robust object identification and manipulation.
    • The grasp geometry analysis provides a framework for optimizing gripper design through parameter selection, such as span distance.