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The paper focuses on the grasp requirements derived from the voluntary and involuntary physical interactions in instrument manipulations. The manipulation-oriented grasp requirements include interactive wrench requirements and motion requirements that are required to accomplish a manipulation task. The manipulation-oriented grasp requirements are directly associated with the functionality of the instrument and the manipulation task, but independent from the robotic hardware. Grasp quality measures developed from the manipulation-oriented grasp requirements can be used as search criteria for optimal grasps. Working with hardware-independent grasping strategies extracted from human demonstration including grasp type and thumb placement, optimal grasps could be located efficiently in a dramatically reduced hand configuration space.
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Sun et al. (2016) studied this question.
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