NDLI: Transition from enveloping to fingertip grasp: a way of reorientation by a multifingered hand

Content Provider	IEEE Xplore Digital Library
Author	Omata, T. Sekiyama, T.
Copyright Year	1997
Description	Author affiliation: Tokyo Inst. of Technol., Yokohama, Japan (Omata, T.)
Abstract	This paper focuses on a specific way of performing reorientation which is often observed when a human hand revolves a cylindrical object by using the whole hand. We put more emphasis on the manipulative task than the firm grip made by enveloping grasp. This paper interprets such reorientation as the sequence of two two-point grasps, one a fingertip grasp, the other an enveloping grasp. We concern ourselves mainly with the two-point grasps and the transition from enveloping to fingertip grasp in the reorientation. This interpretation leads to geometrical conditions that determine whether sliding is necessary for the transition from enveloping to fingertip grasp or not. We present techniques of active sensing to detect or search for the two-point grasps using force sensors attached to the distal links of the fingers.
Starting Page	1004
Ending Page	1009
File Size	646880
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.614266
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Humans Object detection Force sensors Thumb Face Robot control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Transition from enveloping to fingertip grasp: a way of reorientation by a multifingered hand