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Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands

Title: Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands
Authors: Cotugno, G
Konstantinova, J
Althoefer, K
Nanayakkara, DPT
Item Type: Journal Article
Abstract: Grasp affordances in robotics represent different ways to grasp an object involving a variety of factors from vision to hand control. A model of grasp affordances that is able to scale across different objects, features and domains is needed to provide robots with advanced manipulation skills. The existing frameworks, however, can be difficult to extend towards a more general and domain independent approach. This work is the first step towards a modular implementation of grasp affordances that can be separated into two stages: approach to grasp and grasp execution. In this study, human experiments of approaching to grasp are analysed, and object-independent patterns of motion are defined and modelled analytically from the data. Human subjects performed a specific action (hammering) using objects of different geometry, size and weight. Motion capture data relating the hand-object approach distance was used for the analysis. The results showed that approach to grasp can be structured in four distinct phases that are best represented by non-linear models, independent from the objects being handled. This suggests that approaching to grasp patterns are following an intentionally planned control strategy, rather than implementing a reactive execution.
Issue Date: 26-Dec-2018
Date of Acceptance: 13-Dec-2018
URI: http://hdl.handle.net/10044/1/66804
DOI: https://dx.doi.org/10.1371/journal.pone.0208228
ISSN: 1932-6203
Publisher: Public Library of Science (PLoS)
Journal / Book Title: PLoS ONE
Volume: 13
Issue: 12
Copyright Statement: © 2018 Cotugno et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Sponsor/Funder: Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/R511547/1
EP/N03211X/2
Keywords: Science & Technology
Multidisciplinary Sciences
Science & Technology - Other Topics
ARM MOVEMENTS
REACH
SYNERGIES
MANIPULATORS
COORDINATION
ADJUSTMENTS
CONSTRAINTS
KINEMATICS
MD Multidisciplinary
General Science & Technology
Publication Status: Published
Article Number: e0208228
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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