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Related Experiment Video

Updated: May 25, 2026

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

Published on: April 21, 2023

Experimental validation of a reach-and grasp optimization algorithm inspired to human arm-hand control.

F Cordella1, L Zollo, A Salerno

  • 1Department of Computer and Systems Engineering, University of Naples Federico II, 80125 Naples, Italy. francesca.cordella@unina.it

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
|January 19, 2012
PubMed
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Researchers developed a robotic hand grasp algorithm inspired by human neurophysiology. This algorithm optimizes hand position and finger configuration for stable, human-like cylindrical grasping, validated through simulations and real-world robotic systems.

Area of Science:

  • Robotics
  • Biomechanics
  • Human-Computer Interaction

Background:

  • Human grasping actions exhibit synergistic control, a principle not fully replicated in robotic systems.
  • Developing stable and human-like grasping capabilities is crucial for advanced robotic manipulation.

Purpose of the Study:

  • To formulate and validate a general rule for stable, human-like cylindrical grasping using a robotic hand.
  • To develop a reach-and-grasp algorithm for optimal robotic hand positioning and finger configuration.

Main Methods:

  • Theoretical formulation of a reach-and-grasp algorithm based on minimizing joint distances to the object surface.
  • Simulation trials to preliminarily test algorithm effectiveness.
  • Experimental validation on a real arm-hand robotic system.

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Related Experiment Videos

Last Updated: May 25, 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

Frame-by-Frame Video Analysis of Idiosyncratic Reach-to-Grasp Movements in Humans
10:51

Frame-by-Frame Video Analysis of Idiosyncratic Reach-to-Grasp Movements in Humans

Published on: January 15, 2018

Design and Use of an Apparatus for Presenting Graspable Objects in 3D Workspace
09:11

Design and Use of an Apparatus for Presenting Graspable Objects in 3D Workspace

Published on: August 8, 2019

Main Results:

  • The proposed algorithm successfully determined optimal hand positions and finger configurations for cylindrical grasping.
  • Validation through simulations and real-world experiments confirmed the algorithm's effectiveness and performance.

Conclusions:

  • A general rule for stable, human-like cylindrical grasping with robotic hands can be derived from neurophysiological principles.
  • The validated algorithm provides a robust method for robotic grasping of cylindrical objects.