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Updated: May 28, 2026
09:41
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
Modelling natural and artificial hands with synergies
Antonio Bicchi1, Marco Gabiccini, Marco Santello
1Interdepartmental Research Center E. Piaggio, University of Pisa, Via Diotisalvi, 2, 56126 Pisa, Italy. bicchi@centropiaggio.unipi.it
Summary
This study models natural and artificial hand grasping and touch using postural synergies. Findings show these synergies are key for both pre-grasp shaping and grasp force distribution.
Area of Science:
- Robotics
- Biomechanics
- Neuroscience
Background:
- Human hands exhibit postural synergies, correlating degrees of freedom in frequent use patterns.
- Existing models focus on pre-grasp hand shaping, but extending them to grasp force distribution requires further development.
Purpose of the Study:
- To model the grasping and active touch processes in both natural and artificial hands.
- To extend the synergy model to incorporate mechanical compliance for grasp force analysis.
- To review models for abstracting complex haptic sensory information for efficient processing.
Main Methods:
- Developed a geometrical model based on observed postural synergies in human hands for pre-grasp shaping.
- Introduced a modified model incorporating musculotendinous system compliance to analyze grasp force distribution.
- Reviewed existing models for harnessing heterogeneous tactile sensory information into simplified abstractions.
Main Results:
- Numerical results indicate that principal synergies identified in pre-grasp posture are fundamental for proper grasp force distribution.
- The synergy model, extended with mechanical compliance, successfully accounts for force distribution during grasping.
- Simplified abstractions of complex haptic data enable fast processing for reflexes and high-level percepts.
Conclusions:
- Postural synergies play a fundamental role in both the pre-grasp shaping and force distribution phases of grasping.
- The developed models are applicable to the design and control of artificial hands and tactile sensors.
- Abstracting complex sensory information is crucial for efficient processing in both biological and artificial systems.
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