The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
On grasp choice, grasp models, and the design of hands for manufacturing tasks
Abstract
Current analytical models of grasping and manipulation with robotic hands contain simplifications and assumptions that limit their application to manufacturing environments. To evaluate these models, a study was undertaken of the grasps used by machinists in a small batch manufacturing operation. Based on the study, a taxonomy of grasps was constructed. An expert system was also developed to clarify the issues involved in human grasp choice. Comparisons of the grasp taxonomy, the expert system, and grasp-quality measures derived from the analytic models reveal that the analytic measures are useful for describing grasps in manufacturing tasks despite the limitations in the models. In addition, the grasp taxonomy provides insights for the design of versatile robotic hands for manufacturing.>
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Citations
Cites
Factors influencing the force control during precision grip
Westling, G., & Johansson, R. S. (1984) · Experimental Brain Research · doi:10.1007/bf00238156 · Cited by 1,027
Cited by
A novel type of compliant and underactuated robotic hand for dexterous grasping
Deimel, R., & Brock, O. (2016) · The International Journal of Robotics Research · doi:10.1177/0278364915592961 · Cited by 1,084
Atzori, M., Cognolato, M., & Müller, H. (2016) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2016.00009 · Cited by 684
“…dataset 2 and 3) of 40 movements and nine force patterns that were selected from the hand taxonomy and robotics literature (Kamakura et al., 1980; Cutkosky, 1989; Edwards et al., 2002; Crawford et al., 2005; Sebelius et al., 2005; Kato et al., 2006; Feix et al., 2009) also in relationship to the…”
MethodA compliant, underactuated hand for robust manipulation
Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D., & Dollar, A. M. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913514466 · Cited by 598
Design of a Multifunctional Anthropomorphic Prosthetic Hand With Extrinsic Actuation
Dalley, S. A., Wiste, T. E., Withrow, T. J., & Goldfarb, M. (2009) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2009.2033113 · Cited by 204
Sensing Fine-Grained Hand Activity with Smartwatches
Laput, G., & Harrison, C. (2019) · Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems · doi:10.1145/3290605.3300568 · Cited by 147
Metadata
- Authors
- Cutkosky, M. R.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1989-06
- Volume
- 5
- Issue
- 3
- Pages
- 269-279
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2144573888
- Cited by
- 1,513
- References
- 1
- FWCI
- 17.79
- Type
- journal article
- Language
- en
- Open access
- closed
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- Cutkosky, M. R. (1989). On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.34763
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
