Robotics and Biology Laboratory

Human Grasping Trials

Contact Person

Steffen Puhlmann

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.

 

Grasping with Robotic Hands

Contact Person

Steffen Puhlmann

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.

 

Funding

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

2018

Pall, Elod; Sieverling, Arne; Brock, Oliver
Contingent Contact-Based Motion Planning
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seite 6615–6621
Oktober 2018

2017

Knoop, Espen; Bächer, Moritz; Wall, Vincent; Deimel, Raphael; Brock, Oliver; Beardsley, Paul
Handshakiness: Benchmarking for Human-Robot Hand Interactions
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seite 4982-4989
September 2017
Ghazi-Zahedi, Keyan; Deimel, Raphael; Montúfar, Guido; Wall, Vincent; Brock, Oliver
Morphological Computation: The Good, the Bad, and the Ugly
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seite 464-469
September 2017
Deimel, Raphael; Irmisch, Patrick; Wall, Vincent; Brock, Oliver
Automated Co-Design of Soft Hand Morphology and Control Strategy for Grasping
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seite 1213-1218
September 2017
Abele, Jessica; Brock, Oliver
First Analysis of Environment Design for Motion Planning with Contact
Juli 2017