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Scale-Dependent Grasp Kaneko, Makoto Kaneko Makoto Shirai, Tatsuya Shirai Tatsuya Tsuji, Toshio Tsuji Toshio open access Copyright (c) 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Grasping strategy multifingered robot hand scale-dependent grasp 530 This paper discusses the scale-dependent grasp.Suppose that a human approaches an object initially placed on atable and finally achieves an enveloping grasp. Under such initialand final conditions, he (or she) unconsciously changes the graspstrategy according to the size of objects, even though they havesimilar geometry. We call the grasp planning the scale-dependentgrasp. We find that grasp patterns are also changed according tothe surface friction and the geometry of cross section in additionto the scale of object. Focusing on column objects, we first classifythe grasp patterns and extract the essential motions so that we canconstruct grasp strategies applicable to multifingered robot hands.The grasp strategies constructed for robot hands are verified byexperiments. We also consider how a robot hand can recognizethe failure mode and how it can switch from one to another. IEEE 2000 eng journal article VoR https://hiroshima.repo.nii.ac.jp/records/2007024 10.1109/3468.895903 http://dx.doi.org/10.1109/3468.895903 1083-4427 IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 30 6 806 806 816 https://hiroshima.repo.nii.ac.jp/record/2007024/files/IEEE_TSMC_A_SH_30_6_806-816_2000.pdf 332.3 KB