Scale-dependent grasps

摘要

This paper discusses the scale-dependent grasps. Suppose that an object is initially placed on a table without touching by human hand and, then he (or she) finally achieves an enveloping grasp after an appropriate approach phase. Under suchinitial and final conditions, human unconsciously changes the grasp strategy according to the size of object, even though they have similar geometry. We call the grasp planning the scale-dependent grasp. Along the grasp patterns observed in humangrasping, we present a couple of procedures applicable to multi-fingered robot hands.