Date of Original Version
Robotics: Science and Systems (RSS) 2009 Workshop on Understanding the Human Hand for Advancing Robotic Manipulation, June 2009.
Abstract or Table of Contents
The first step in many manipulation actions is object acquisition, where the hand is formed around the object to achieve a task-specific grasp. A large body of the previous research has investigated object acquisition in the context of reach-to-grasp actions. The primary focus has been on the motor coordination of the upper limb and hand shape in the process of reaching toward the object which is grasped. In many of the reach-to-grasp actions studied previously, the target of the coordinated reach and preshape motion is a presented object whose placement is considered fixed in the environment.