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TU Berlin

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Human Grasping Strategies

Lupe

We study human grasping under a variety of conditions in order to identify and characterize different grasping strategies. Specially, we are interested in strategies that are robust to be performed under different kinds of impairment, e.g. visual. Our final goal, is to transfer those robust strategies to a robot. 

Contact person: Steffen Puhlmann

Grasping with Robotic Hands

Lupe

In addition to subjects' grasping with their natural hands, we also observe them when they use soft robotic hands such as RBO Hand 2 and Pisa/IIT Hand. Our goal is to leverage their intuition in grasping to understand how robotic hands can be controlled and evaluate the transfer of their strategies to robotic hands.

Contact person: Steffen Puhlmann

Funding

Lupe
Lupe

Soft Manipulation (SoMa) -  funded by the European Commission in the Horizon 2020 program, award number 645599, May 2015 - April 2019. Alexander von Humboldt professorship - awarded by the Alexander von Humboldt foundation and funded through the Ministry of Education and Research, BMBF,
July 2009 - June 2014

Publications

Steffen Puhlmann and Fabian Heinemann and Oliver Brock and Marianne Maertens. A Compact Representation of Human Single-Object Grasping. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1954-1959, 2016.

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Clemens Eppner and Raphael Deimel and Jose Alvarez-Ruiz and Marianne Maertens and Oliver Brock. Exploitation of Environmental Constraints in Human and Robotic Grasping. The International Journal of Robotics Research 34(7):1021-1038, 2015.

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Fabian Heinemann and Steffen Puhlmann and Clemens Eppner and Jose Alvarez-Ruiz and Marianne Maertens and Oliver Brock. A Taxonomy of Human Grasping Behavior Suitable for Transfer to Robotic Hands. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4286-4291, 2015.

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Raphael Deimel and Clemens Eppner and José Álvarez-Ruiz and Marianne Maertens and Oliver Brock. Exploitation of Environmental Constraints in Human and Robotic Grasping. International Symposium on Robotics Research (ISRR), 2013.

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