On preparatory object rotation to adjust handle orientation for grasping

Lillian Y. Chang and Nancy Pollard
tech. report CMU-RI-TR-08-10, Robotics Institute, Carnegie Mellon University, April, 2008


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Abstract
This study investigates preparatory rotation as a manipulation strategy for grasping objects from different presented orientations. Participants lifted heavy, handled objects from eight initial orientations under two task constraints. When object motion was permitted, participants used preparatory rotation to first adjust the object handle to a desired orientation before lifting. The amount of rotation increased for handle orientations further from the central orientation. When object motion was not permitted, increased upper body joint torque was required for the direct grasping strategy compared to that for the preparatory rotation strategy. Grasp configuration and ratings for comfort and naturalness also exhibited similar trends, leading to the conjecture that both energetic considerations and grasp kinematic considerations may drive the selection of preparatory rotation.

Notes
Sponsor: NSF
Grant ID: IIS-0326322, ECS-0325383, and CCF-0702443
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Number of pages: 27

Text Reference
Lillian Y. Chang and Nancy Pollard, "On preparatory object rotation to adjust handle orientation for grasping," tech. report CMU-RI-TR-08-10, Robotics Institute, Carnegie Mellon University, April, 2008

BibTeX Reference
@techreport{Chang_2008_6023,
   author = "Lillian Y. Chang and Nancy Pollard",
   title = "On preparatory object rotation to adjust handle orientation for grasping",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "2008",
   number= "CMU-RI-TR-08-10",
   address= "Pittsburgh, PA",
}