ArticlePloS one2018
Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands.
Article in PloS one, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper, 1 of them a synthesis that pooled it.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
1 citing paper in PubMed, 1 synthesis or guideline pooled it.
- Can motion capture improve task-based fMRI studies of motor function post-stroke? A systematic review.Journal of neuroengineering and rehabilitation · 2025Pooled it
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
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.
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Registered trials
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