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 the (r she) finally achieves an enveloping grasp after an appropriate approach phase. Under such initial and final conditions, human unconsciously changes the grasp strategy according to the size of object, even through they have similar geometry. We call the grasp planning the scale-dependent grasp. Along the grasp patterns observed in human grasping,we present a couple of procedures applicable to multi-fingered robot hands.