Related Experiment Video
Updated: Apr 6, 2026
09:41
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
2.4K
Planning grasps for object manipulation: integrating internal preferences and external constraints.
Oliver Herbort1, Martin V Butz
1Department of Psychology, University of Würzburg, Röntgenring 11, 97070, Würzburg, Germany, oliver.herbort@psychologie.uni-wuerzburg.de.
Cognitive Processing
|July 31, 2015
Summary
Human grasp selection involves matching preferences with object shape. Planning time increases with grasp options, but unconstrained choices suggest a preference-based process, indicating a common criterion for grasp selection.
Area of Science:
- Cognitive Psychology
- Robotics
- Human-Computer Interaction
Background:
- Grasp selection integrates human preferences and object geometry.
- Two hypotheses explain grasp planning: simulation and preference-based selection.
- Understanding grasp planning is crucial for developing intuitive robotic manipulation.
Purpose of the Study:
- To investigate the cognitive processes underlying human grasp selection.
- To differentiate between the simulation and preference hypotheses of grasp planning.
- To determine how the number of grasp options influences planning time and final grasp choice.
Main Methods:
- Participants were tasked with grasping knobs offering two, four, or unconstrained grasp options.
- Planning time and grasp choices were recorded for each condition.
- Behavioral data were analyzed to compare planning efficiency and selection strategies.
Main Results:
- Planning time increased with the number of available grasp options (two vs. four), supporting the simulation hypothesis.
- Unconstrained grasp options resulted in planning times similar to the two-option condition, suggesting a different selection mechanism.
- Grasp choices remained consistent across conditions, irrespective of object shape, indicating a dominant selection criterion.
Conclusions:
- Grasp planning involves a complex interplay between simulation and preference-based mechanisms.
- The cognitive system may employ different strategies for grasp selection depending on the number of available options.
- A common, likely preference-driven, criterion guides final grasp selection, ensuring task success across varying constraints.
Related Concept Videos
01:30Three-Dimensional Force System:Problem Solving
1.5K
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
1.5K
01:06Virtual Work for a System of Connected Rigid Bodies
856
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
Next,...
856
01:21Manipulation and Analysis
326
GIS manipulation and analysis functions are vital for decision-making and planning. These activities range from data retrieval tasks, such as selecting information based on specific criteria, to advanced analytical techniques that address complex spatial problems.One critical GIS analysis method is overlaying, which combines multiple data layers to examine impacts. For example, overlaying a river-dammed lake boundary with road networks can identify affected infrastructure. Another common...
326
01:22Planar Rigid-Body Motion
1.4K
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
1.4K
01:09Bending of Material: Problem Solving
646
In this lesson, determine the ratio of the maximum bending moments applied to two metal pipes, given that both pipes can withstand a maximum stress of 100 MPa. Both pipes have an outer radius of 1.8 cm. Pipe A has an inner radius of 1.5 cm, and Pipe B has an inner radius of 1 cm. The ratio of the maximum bending moment applied to two metallic pipes, each with a different inner and outer radius, is determined by considering their dimensions. The inner radius of the first pipe is 1.5 cm, and for...
646
01:14Design Example: Managing Concrete Workability
357
This example deals with managing the workability of concrete for a raft foundation project under hot weather conditions. Workability is crucial for ensuring the concrete is easy to place, compact, and finish. In this scenario, a slump test — a common method to measure the workability of fresh concrete — initially indicated low workability. This was attributed to the rapid water loss from the concrete mix, exacerbated by the high temperatures causing the course aggregates to heat up.
357