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Human inspired multifingered grasping: alternatives and suggestions

G. Cotugno, King's College, UK

Grasping synergies have become a popular topic in robotics grasping in the last years. This technique, inspired by neuroscientific research, simplifies the control of a multifingered gripper to few variables and excellent hardware implementations demonstrated its potential. However, this implementation of grasping synergies requires a customized hardware, making difficult to revert a synergic gripper to other grasping approaches. In this talk, I will propose a possible software implementation of grasping synergies that does not need any hardware customization and that can generalize to a large variety of objects. Following this, I will pose some questions on the appropriateness of the design of dextrous robotic grippers using the iCub hand as case study.