Robotic Grasping for Instrument Manipulations

Document Type

Conference Proceeding

Publication Date



robots, computational modeling, adaptation models, automation, manufacturing, hand configuration space, robotic grasping, instrument manipulation, manipulation-oriented grasp requirement, interactive wrench requirement, motion requirement, grasp quality measures, grasp type, thumb placement

Digital Object Identifier (DOI)



The paper focuses on the grasp requirements derived from the voluntary and involuntary physical interactions in instrument manipulations. The manipulation-oriented grasp requirements include interactive wrench requirements and motion requirements that are required to accomplish a manipulation task. The manipulation-oriented grasp requirements are directly associated with the functionality of the instrument and the manipulation task, but independent from the robotic hardware. Grasp quality measures developed from the manipulation-oriented grasp requirements can be used as search criteria for optimal grasps. Working with hardware-independent grasping strategies extracted from human demonstration including grasp type and thumb placement, optimal grasps could be located efficiently in a dramatically reduced hand configuration space.

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Citation / Publisher Attribution

2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Xi'an, 2016, p. 302-304.