Jove
Visualize
Contact Us

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Hybrid Kinematic and Muscular Null Space for Simultaneous Control of Natural and Extra Degrees of Freedom.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society·2026
Same author

3D-Printed Portable Video-Ooculography Device (UNySi cam): A New Tool for Eye Movement Assessment.

Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology·2026
Same author

Human augmentation by wearable supernumerary robotic limbs: review and perspectives.

Progress in biomedical engineering (Bristol, England)·2025
Same author

Optimization-Driven Design of Monolithic Soft-Rigid Grippers.

Soft robotics·2025
Same author

A Comprehensive Review of Elbow Exoskeletons: Classification by Structure, Actuation, and Sensing Technologies.

Sensors (Basel, Switzerland)·2025
Same author

Interfacing with the Brain: How Nanotechnology Can Contribute.

ACS nano·2025
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Video

Updated: Nov 19, 2025

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
03:55

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

Published on: October 27, 2023

2.5K

Exploiting Robot Hand Compliance and Environmental Constraints for Edge Grasps.

Joao Bimbo1, Enrico Turco1,2, Mahdi Ghazaei Ardakani3

  • 1Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy.

Frontiers in Robotics and AI
|January 27, 2021
PubMed
Summary

This study introduces Environmental Constraint Exploitation (ECE) for soft robotic hands to grasp difficult objects. Two strategies, Continuous Slide and Grasp and Pivot and Re-Grasp, are presented for improved grasping robustness.

Keywords:
edge graspenvironmental constraints exploitationgrasp planningslidingsoft robotic hands

More Related Videos

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

2.0K
Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
06:44

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Published on: May 20, 2020

7.3K

Related Experiment Videos

Last Updated: Nov 19, 2025

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
03:55

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

Published on: October 27, 2023

2.5K
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

2.0K
Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
06:44

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Published on: May 20, 2020

7.3K

Area of Science:

  • Robotics
  • Soft Robotics
  • Grasping Manipulation

Background:

  • Grasping objects directly from a surface can be challenging for robotic hands, especially soft, underactuated ones.
  • Existing methods often require precise object localization and manipulation, increasing planning complexity.
  • Leveraging environmental interactions can enhance grasp robustness and reduce computational load.

Purpose of the Study:

  • To develop and evaluate novel grasping strategies for soft robotic hands using Environmental Constraint Exploitation (ECE).
  • To introduce two distinct ECE strategies: Continuous Slide and Grasp, and Pivot and Re-Grasp.
  • To investigate the effectiveness of these strategies across various object types and sizes.

Main Methods:

  • Objects are manipulated to the table edge for grasping, utilizing the environment as a constraint.
  • The 'Continuous Slide and Grasp' strategy involves sliding the object while maintaining contact until the edge.
  • The 'Pivot and Re-Grasp' strategy uses pivoting during sliding, followed by a repositioning grasp.
  • A hybrid force-velocity controller manages sliding, and the 'closure signature' model aids grasp planning.

Main Results:

  • 320 grasping trials were conducted with a soft hand on a collaborative robot arm, using 16 diverse objects.
  • 'Continuous Slide and Grasp' proved effective for smaller objects (e.g., credit cards).
  • 'Pivot and Re-Grasp' demonstrated superior performance with larger objects (e.g., books).
  • A classifier was trained to automatically select the optimal strategy based on object size and weight.

Conclusions:

  • ECE strategies significantly enhance the robustness of soft robotic hand grasps by utilizing environmental interactions.
  • The choice between 'Continuous Slide and Grasp' and 'Pivot and Re-Grasp' depends on object characteristics, particularly size.
  • This research represents a crucial step towards deploying soft hands in real-world applications by treating the environment as an assistive element.