Towards an Understanding of Grasping using a Multi-Sensing Approach

摘要

Abstract — To gain a deeper understanding of human man-ual dexterity, we investigate an everyday manual interac-tion, recording hand kinematics, the involved forces and eye-movements. Using a multi-sensing approach we hope to develop a more complete understanding of what we have termed manual intelligence, with a view to enabling robots carry out complex tasks that we take for granted. A preliminary experiment was carried out which illuminated important aspects of manual intelligence such as where to look to find suitable grasping points, as well investigating differences in hand kinematics and the applied forces while carrying out a simple manual interaction. I.