On grasp choice, grasp models, and the design of hands for manufacturing tasks Export

@article{citeulike:910377, 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}, author = {Cutkosky, M. R.}, citeulike-article-id = {910377}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/70.34763}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=34763}, doi = {10.1109/70.34763}, journal = {Robotics and Automation, IEEE Transactions on}, keywords = {griffklassifikation}, number = {3}, pages = {269--279}, posted-at = {2008-05-26 08:51:54}, priority = {2}, title = {On grasp choice, grasp models, and the design of hands for manufacturing tasks}, url = {http://dx.doi.org/10.1109/70.34763}, volume = {5}, year = {1989} }

TY - JOUR ID - citeulike:910377 L3 - citeulike-article-id:910377 N2 - 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 IS - 3 JF - Robotics and Automation, IEEE Transactions on EP - 279 TI - On grasp choice, grasp models, and the design of hands for manufacturing tasks VL - 5 SP - 269 KW - griffklassifikation AU - Cutkosky, MR PY - 1989/// UR - http://dx.doi.org/10.1109/70.34763 ER -