{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T11:10:03Z","timestamp":1746097803784,"version":"3.40.4"},"publisher-location":"Cham","reference-count":47,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319030166"},{"type":"electronic","value":"9783319030173"}],"license":[{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014]]},"DOI":"10.1007\/978-3-319-03017-3_22","type":"book-chapter","created":{"date-parts":[[2014,1,3]],"date-time":"2014-01-03T13:11:16Z","timestamp":1388754676000},"page":"477-500","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Physical Human Interactive Guidance: Identifying Grasping Principles from Human-Planned Grasps"],"prefix":"10.1007","author":[{"given":"Ravi","family":"Balasubramanian","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ling","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter D.","family":"Brook","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joshua R.","family":"Smith","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yoky","family":"Matsuoka","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2014,1,4]]},"reference":[{"key":"22_CR1","doi-asserted-by":"crossref","unstructured":"R. Balasubramanian, L. Xu, P. Brook, J. R. Smith, Y. Matsuoka, Human-guided grasp measures improve grasp robustness on physical robot, in Proceedings of IEEE International Conference on Robotics and Automation, pp. 2294\u20132301 (2010)","DOI":"10.1109\/ROBOT.2010.5509855"},{"issue":"3","key":"22_CR2","doi-asserted-by":"crossref","first-page":"619","DOI":"10.1109\/TRO.2011.2132870","volume":"27","author":"Y. Bekiroglu","year":"2011","unstructured":"Y. Bekiroglu, J. Laaksonen, J. Jorgensen, V. Kyrki, D. Kragic, Assessing grasp stability based on learning and haptic data. IEEE Trans. Robot. 27(3), 619\u2013629 (2011)","journal-title":"IEEE Trans. Robot."},{"key":"22_CR3","unstructured":"G.M. Bone, Y. Du, Multi-metric comparison of optimal 2d grasp planning algorithms, in Proceedings of IEEE International Conference on Robotics and Automation (2001)"},{"issue":"1","key":"22_CR4","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1080\/00222890903269195","volume":"42","author":"LY Chang","year":"2010","unstructured":"L.Y. Chang, R.L. Klatzky, N.S. Pollard, Selection criteria for preparatory object rotation in manual lifting actions. J. Mot. Behav. 42(1), 11\u201327 (2010)","journal-title":"J. Mot. Behav."},{"key":"22_CR5","unstructured":"L.Y. Chang, Y. Matsuoka, A kinematic thumb model for the act hand, in Proceedings of the 2006 IEEE International Conference on Robotics and Automation (2006)"},{"issue":"6","key":"22_CR6","doi-asserted-by":"crossref","first-page":"1392","DOI":"10.1016\/j.jbiomech.2006.05.010","volume":"40","author":"L.Y. Chang","year":"2007","unstructured":"L.Y. Chang, N.S. Pollard, Constrained least-squares optimization for robust estimation of center of rotation. J. Biomech. 40(6), 1392\u20131400 (2007)","journal-title":"J. Biomech."},{"issue":"1","key":"22_CR7","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1109\/TSMCC.2004.840061","volume":"35","author":"E. Chinellato","year":"2005","unstructured":"E. Chinellato, A. Morales, R.B. Fisher, A.P. del Pobil, Visual quality measures for characterizing planar robot grasps. IEEE Trans. Syst. Man Cybernet. 35(1), 30\u201341 (2005)","journal-title":"IEEE Trans. Syst. Man Cybernet."},{"key":"22_CR8","doi-asserted-by":"crossref","first-page":"81","DOI":"10.1007\/s002210000444","volume":"134","author":"A. Churchill","year":"2000","unstructured":"A. Churchill, B. Hopkins, L. Ronnqvist, S. Vogt, Vision of the hand and environmental context in human prehension. Exp. Brain Res. 134, 81\u201389 (2000)","journal-title":"Exp. Brain Res."},{"key":"22_CR9","doi-asserted-by":"crossref","unstructured":"M.T. Ciocarlie, P.K. Allen, On-line interactive dexterous grasping, in Proceedings of Eurohaptics (2008)","DOI":"10.1007\/978-3-540-69057-3_11"},{"issue":"2","key":"22_CR10","doi-asserted-by":"publisher","first-page":"277","DOI":"10.1109\/TVCG.2006.35","volume":"12","author":"ST Clanton","year":"2006","unstructured":"S.T. Clanton, D.C. Wang, V.S. Chib, Y. Matsuoka, G.D. Stetten, Optical merger of direct vision with virtual images for scaled teleoperation. IEEE Trans. Vis. Comput. Graph. 12(2), 277\u2013285 (2006)","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"key":"22_CR11","doi-asserted-by":"publisher","first-page":"486","DOI":"10.1007\/s00221-004-1862-9","volume":"157","author":"RG Cohen","year":"2004","unstructured":"R.G. Cohen, D.A. Rosenbaum, Where grasps are made reveals how grasps are planned: generation and recall of motor plans. Exp. Brain Res. 157, 486\u2013495 (2004). doi:10.1007\/s00221-004-1862-9","journal-title":"Exp. Brain Res."},{"issue":"3","key":"22_CR12","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1109\/70.34763","volume":"5","author":"MR Cutkosky","year":"1989","unstructured":"M.R. Cutkosky, On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Trans. Robot. Autom. 5(3), 269\u2013279 (1989)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"22_CR13","unstructured":"R. Diankov, J. Kuffner, OpenRAVE: A planning architecture for autonomous robotics. Technical Report CMU-RI-TR-08-34, The Robotics Institute, Pittsburgh, PA, July 2008"},{"key":"22_CR14","unstructured":"C. Fern\u00e1ndez, M.A. Vicente, C. P\u00e9rez, O. Reinoso, R. Aracil, Learning to grasp from examples in telerobotics, in Proceeding Conference on Artificial Intelligence and Applications (2003)"},{"key":"22_CR15","unstructured":"C. Ferrari, J. Canny, Planning optimal grasps, in Proceeding of the IEEE International Conference on Robotics and Automation, pp. 2290\u20132295 (1992)"},{"key":"22_CR16","doi-asserted-by":"publisher","first-page":"444","DOI":"10.1016\/S0010-9452(08)70469-6","volume":"43","author":"J Friedman","year":"2007","unstructured":"J. Friedman, T. Flash, Task-dependent selection of grasp kinematics and stiffness in human object manipulation. Cortex 43, 444\u2013460 (2007)","journal-title":"Cortex"},{"issue":"1","key":"22_CR17","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1016\/S0021-9290(01)00160-9","volume":"35","author":"S.S.H.U. Gamage","year":"2002","unstructured":"S.S.H.U. Gamage, J. Lasenby, New least squares solutions for estimating the average centre of rotation and the axis of rotation. J. Biomech. 35(1), 87\u201393, 01 (2002)","journal-title":"J. Biomech."},{"key":"22_CR18","doi-asserted-by":"publisher","unstructured":"C. Goldfeder, M. Ciocarlie, H. Dang, P. Allen, The columbia grasp database, in Proceedings of International Conference on Robotics and Automation, pp. 1710\u20131716 (2009). doi:10.1109\/ROBOT.2009.5152709","DOI":"10.1109\/ROBOT.2009.5152709"},{"key":"22_CR19","doi-asserted-by":"crossref","unstructured":"W.B. Griffin, R.P. Findley, M.L. Turner, M.R. Cutkosky, Calibration and mapping of a human hand for dexterous telemanipulation, in Proceedings of ASME IMECE Conference on Haptic Interfaces for Virtual Environments and Teleoperator System Symposium (2000)","DOI":"10.1115\/IMECE2000-2424"},{"issue":"3","key":"22_CR20","doi-asserted-by":"publisher","first-page":"550","DOI":"10.1007\/BF00237997","volume":"56","author":"RS Johansson","year":"1984","unstructured":"R.S. Johansson, G. Westling, Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects. Exp. Brain Res. 56(3), 550\u2013564 (1984)","journal-title":"Exp. Brain Res."},{"key":"22_CR21","doi-asserted-by":"crossref","unstructured":"S.H. Johnson-Frey, Whats so special about human tool use? Neuron (2003)","DOI":"10.1016\/S0896-6273(03)00424-0"},{"key":"22_CR22","doi-asserted-by":"crossref","unstructured":"L.A. Jones, S.J. Lederman, Human Hand Function (Oxford University Press, Oxford, 2006)","DOI":"10.1093\/acprof:oso\/9780195173154.001.0001"},{"issue":"5436","key":"22_CR23","doi-asserted-by":"publisher","first-page":"2136","DOI":"10.1126\/science.285.5436.2136","volume":"285","author":"S Kakei","year":"1999","unstructured":"S. Kakei, D.S. Hoffman, P.L. Strick, Muscle and movement representations in the primary motor cortex. Science 285(5436), 2136\u20132139 (1999)","journal-title":"Science"},{"key":"22_CR24","unstructured":"U. Kartoun, H. Stern, Y. Edan, Advances in e-engineering and digital enterprise technology-1: Proc. Int. Conf. on e-Engineering and Digital Enterprise Technology, chapter Virtual Reality Telerobotic System (John Wiley and Sons, New York, 2004)"},{"key":"22_CR25","doi-asserted-by":"crossref","unstructured":"D. Kirkpatrick, B. Mishra, C.K. Yap, Quantitative Steinitz\u2019s theorms with applications to multifingered grasping, in ACM Symposium on Theory of Computing, pp. 341\u2013351 (1990)","DOI":"10.1145\/100216.100261"},{"key":"22_CR26","unstructured":"C. Lee, Learning Reduced-Dimension Models of Human Actions. PhD thesis, The Robotics Institute, Carnegie Mellon University, 2000"},{"key":"22_CR27","unstructured":"C. Lee, Y. Xu, Reduced-dimension representations of human performance data for human-to-robot skill transfer, in Proceedings of IEEE International Conference on Robotics and Automation, pp. 84\u201390 (1998)"},{"issue":"1","key":"22_CR28","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1109\/56.769","volume":"4","author":"Z. Li","year":"1988","unstructured":"Z. Li, S.S. Sastry, Task-oriented optimal grasping by multifingered robot hands. IEEE J. Robot. Autom. 4(1), 32\u201344 (1988)","journal-title":"IEEE J. Robot. Autom."},{"key":"22_CR29","unstructured":"J. Lloyd, J. Beis, D. Pai, D. Lowe, Model-based telerobotics with vision, in Proceedings of IEEE International Conference on Robotics and Automation, vol. 2, pp. 1297\u20131304 (1997)"},{"issue":"4","key":"22_CR30","doi-asserted-by":"publisher","first-page":"3894","DOI":"10.1523\/JNEUROSCI.4693-06.2007","volume":"27","author":"J Lukos","year":"2007","unstructured":"J. Lukos, C. Ansuini, M. Santello, Choice of contact points during multidigit grasping: effect of predictability of object center of mass location. J. Neurosci. 27(4), 3894\u20133903 (2007). doi:10.1523\/JNEUROSCI.4693-06.2007","journal-title":"J. Neurosci."},{"key":"22_CR31","doi-asserted-by":"crossref","unstructured":"A. Miller, P.K. Allen, Graspit!: a versatile simulator for robotic grasping, in IEEE Robotics and Automation Magazine (2004)","DOI":"10.1109\/MRA.2004.1371616"},{"key":"22_CR32","doi-asserted-by":"crossref","unstructured":"B. Mirtich, J. Canny, Easily computable optimum grasps in 2-D and 3-D, in Proceedings of IEEE International Conference on Robotics and Automation, pp. 739\u2013747 (1994)","DOI":"10.1109\/ROBOT.1994.351399"},{"key":"22_CR33","doi-asserted-by":"crossref","unstructured":"N. Miyata, M. Kouchi, T. Kurihara, M. Mochimaru, Modeling of human hand link structure from optical motion capture data, in Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2129\u20132135 (2004)","DOI":"10.1109\/IROS.2004.1389724"},{"key":"22_CR34","unstructured":"A. Morales, E. Chinellato, A. Fagg, A. del Pobil, An active learning approach for assessing robot grasp reliability, in Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems 2004 (IROS 2004), vol. 1, pp. 485\u2013490 (2004)"},{"key":"22_CR35","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/70.478433","volume":"11","author":"J. Ponce","year":"1995","unstructured":"J. Ponce, B. Faveqon, On computing three-finger force-closure grasps of polygonal objects. IEEE Trans. Robot. Autom. 11, 868\u2013881 (1995)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"4","key":"22_CR36","doi-asserted-by":"crossref","first-page":"698","DOI":"10.1109\/TRO.2010.2048386","volume":"26","author":"M. Ralph","year":"2010","unstructured":"M. Ralph, M. Moussa, An integrated system for user-adaptive robotic grasping. IEEE Trans. Robot. 26(4), 698\u2013709 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"22_CR37","doi-asserted-by":"publisher","first-page":"1067","DOI":"10.1109\/TRO.2011.2162271","volume":"27","author":"J Romano","year":"2011","unstructured":"J. Romano, K. Hsiao, G. Niemeyer, S. Chitta, K. Kuchenbecker, Human-inspired robotic grasp control with tactile sensing. IEEE Trans. Robot. 27(6), 1067\u20131079 (2011)","journal-title":"IEEE Trans. Robot."},{"issue":"23","key":"22_CR38","doi-asserted-by":"crossref","first-page":"10105","DOI":"10.1523\/JNEUROSCI.18-23-10105.1998","volume":"18","author":"M Santello","year":"1998","unstructured":"M. Santello, M. Flanders, J.F. Soechting, Postural hand synergies for tool use. J. Neurosci. 18(23), 10105\u201310115 (1998)","journal-title":"J. Neurosci."},{"issue":"2","key":"22_CR39","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1177\/0278364907087172","volume":"27","author":"A Saxena","year":"2008","unstructured":"A. Saxena, J. Driemeyer, A.Y. Ng, Robotic grasping of novel objects using vision. Int. J. Robotics Res. 27(2), 157\u2013173 (2008)","journal-title":"Int. J. Robotics Res."},{"key":"22_CR40","unstructured":"A. Saxena, L.L.S. Wong, A. Ng, Learning grasp strategies with partial shape information, in Proceedings of AAAI Conference on Artificial Intelligence (2008)"},{"key":"22_CR41","doi-asserted-by":"publisher","DOI":"10.1177\/027836499601500302","author":"KB Shimoga","year":"1996","unstructured":"K.B. Shimoga, Robot grasp synthesis algorithms: a survey. Int. J. Robot. Res. (1996). doi:10.1177\/027836499601500302","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"22_CR42","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1108\/01439910010371597","volume":"27","author":"WT Townsend","year":"2000","unstructured":"W.T. Townsend, The BarrettHand grasper\u2014programmably flexible part handling and assembly. Ind. Robot Int. J. 27(3), 181\u2013188 (2000)","journal-title":"Ind. Robot Int. J."},{"key":"22_CR43","doi-asserted-by":"crossref","unstructured":"M. Veber, T. Bajd, Assessment of human hand kinematics, in Proceedings of 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, pp. 2966\u20132971 (2006)","DOI":"10.1109\/ROBOT.2006.1642152"},{"key":"22_CR44","doi-asserted-by":"publisher","first-page":"277","DOI":"10.1007\/BF00238156","volume":"53","author":"G Westling","year":"1984","unstructured":"G. Westling, R. Johansson, Factors influencing the force control during precision grip. Exp. Brain Res. 53, 277\u2013284 (1984)","journal-title":"Exp. Brain Res."},{"key":"22_CR45","doi-asserted-by":"crossref","unstructured":"R. Wistort, J.R. Smith, Electric field servoing for robotic manipulation, in Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (2008)","DOI":"10.1109\/IROS.2008.4650721"},{"key":"22_CR46","doi-asserted-by":"publisher","first-page":"153","DOI":"10.1007\/BF00229120","volume":"98","author":"DM Wolpert","year":"1994","unstructured":"D.M. Wolpert, Z. Ghahramani, M.I. Jordan, Perceptual distortion contributes to the curvature of human reaching movements. Exp. Brain Res. 98, 153\u2013156 (1994)","journal-title":"Exp. Brain Res."},{"issue":"5","key":"22_CR47","doi-asserted-by":"publisher","first-page":"446","DOI":"10.3200\/JMBR.40.5.446-476","volume":"40","author":"VM Zatsiorsky","year":"2008","unstructured":"V.M. Zatsiorsky, M.L. Latash, Multifinger prehension: an overview. J. Motor Behav. 40(5), 446\u2013475 (2008)","journal-title":"J. Motor Behav."}],"container-title":["Springer Tracts in Advanced Robotics","The Human Hand as an Inspiration for Robot Hand Development"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-03017-3_22","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T10:48:05Z","timestamp":1746096485000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-03017-3_22"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014]]},"ISBN":["9783319030166","9783319030173"],"references-count":47,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-03017-3_22","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2014]]},"assertion":[{"value":"4 January 2014","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}