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Postural Hand Synergies during Environmental Constraint Exploitation

Abstract Humans are able to intuitively exploit the shape of an object and environmental constraints to achieve stable grasps and perform dexterous manipulations. In doing that, a vast range of kinematic strategies can be observed. However, in this work we formulate the hypothesis that such ability can be described in terms of a synergistic behavior in the generation of hand postures, i.e., using a reduced set of commonly used kinematic patterns. This is in analogy with previous studies showing the presence of such behavior in different tasks, such as grasping. We investigated this hypothesis in experiments performed by six subjects, who were asked to grasp objects from a flat surface. We quantitatively characterized hand posture behavior from a kin... (more)
Created Date 2017-08-29
Contributor Della Santina, Cosimo (Author) / Bianchi, Matteo (Author) / Averta, Giuseppe (Author) / Ciotti, Simone (Author) / Arapi, Visar (Author) / Fani, Simone (Author) / Battaglia, Edoardo (Author) / Giuseppe Catalano, Manuel (Author) / Santello, Marco (ASU author) / Bicchi, Antonio (Author) / Ira A. Fulton Schools of Engineering / School of Biomedical and Health Systems Engineering
Type Text
Extent 14 pages
Language English
Identifier DOI: 10.3389/fnbot.2017.00041 / ISSN: 1662-5218
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Citation Santina, C. D., Bianchi, M., Averta, G., Ciotti, S., Arapi, V., Fani, S., . . . Bicchi, A. (2017). Postural Hand Synergies during Environmental Constraint Exploitation. Frontiers in Neurorobotics, 11. doi:10.3389/fnbot.2017.00041
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