{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T13:12:52Z","timestamp":1759497172659,"version":"3.37.0"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2009,9,1]],"date-time":"2009-09-01T00:00:00Z","timestamp":1251763200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"published-print":{"date-parts":[[2009,9]]},"DOI":"10.1007\/s00422-009-0331-8","type":"journal-article","created":{"date-parts":[[2009,9,25]],"date-time":"2009-09-25T18:39:02Z","timestamp":1253903942000},"page":"215-226","source":"Crossref","is-referenced-by-count":5,"title":["Object orientation in two dimensional grasp with friction towards minimization of gripping power"],"prefix":"10.1007","volume":"101","author":[{"given":"Satoshi","family":"Ito","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shouta","family":"Takeuchi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minoru","family":"Sasaki","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2009,9,26]]},"reference":[{"key":"331_CR1","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1016\/j.robot.2005.09.016","volume":"54","author":"EA Al-Gallaf","year":"2006","unstructured":"Al-Gallaf EA (2006) Multi-fingered robot hand optimal task force distribution neural inverse kinematics approach. Robot Auton Syst 54: 34\u201351","journal-title":"Robot Auton Syst"},{"issue":"01","key":"331_CR2","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1017\/S0263574700002939","volume":"19","author":"S Arimoto","year":"2001","unstructured":"Arimoto S, Tahara K, Yamaguchi M, Nguyen PTA, Han MY (2001) Principles of superposition for controlling pinch motions by means of robot fingers with soft tips. Robotica 19(01): 21\u201328","journal-title":"Robotica"},{"key":"331_CR3","doi-asserted-by":"crossref","unstructured":"Berenson D, Srinivasa S (2008) Grasp synthesis in cluttered environments for dexterous hands. In: Robotics Science and Systems (RSS) workshop on robot manipulation: intelligence in human environments","DOI":"10.1109\/ICHR.2008.4755944"},{"issue":"4","key":"331_CR4","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1177\/027836499501400402","volume":"14","author":"A Bicchi","year":"1995","unstructured":"Bicchi A (1995) On the closure properties of robotic grasping. Int J Robot Res 14(4): 319\u2013334","journal-title":"Int J Robot Res"},{"key":"331_CR5","doi-asserted-by":"crossref","unstructured":"Borst C, Fischer M, Hirzinger G (1999) A fast and robust grasp planner for arbitrary 3D objects. In: 1999 IEEE international conference on robotics and automation, 1999. Proceedings, vol 3","DOI":"10.1109\/ROBOT.1999.770384"},{"issue":"2","key":"331_CR6","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1109\/70.54733","volume":"6","author":"F-T Cheng","year":"1990","unstructured":"Cheng F-T, Orin DE (1990) Efficient algorithm for optimal force distribution \u2013 the compact-dual lp method. IEEE Trans. on Robotics and Automation 6(2): 178\u2013187","journal-title":"IEEE Trans. on Robotics and Automation"},{"key":"331_CR7","doi-asserted-by":"crossref","unstructured":"Ciocarlie M, Lackner C, Allen P (2007) Soft finger model with adaptive contact geometry for grasping and manipulation tasks. In: EuroHaptics conference, 2007 and symposium on haptic interfaces for virtual environment and teleoperator systems. World Haptics 2007, Second Joint, pp 219\u2013224","DOI":"10.1109\/WHC.2007.103"},{"issue":"5","key":"331_CR8","doi-asserted-by":"crossref","first-page":"1498","DOI":"10.1152\/jn.1987.57.5.1498","volume":"57","author":"KJ Cole","year":"1987","unstructured":"Cole KJ, Abbs JH (1987) Kinematic and electromyographic responses to perturbation of a rapid grasp. J Neurophysiol 57(5): 1498\u20131510","journal-title":"J Neurophysiol"},{"issue":"6","key":"331_CR9","doi-asserted-by":"crossref","first-page":"833","DOI":"10.1109\/70.976003","volume":"17","author":"D Ding","year":"2001","unstructured":"Ding D, Liu Y-H, Wang MY, Wang S (2001) Automatic selection of fixturing surfaces and fixturing points for polyhedral workpieces. IEEE Trans Robot Autom 17(6): 833\u2013841","journal-title":"IEEE Trans Robot Autom"},{"issue":"5","key":"331_CR10","doi-asserted-by":"crossref","first-page":"523","DOI":"10.1163\/156855305323383785","volume":"19","author":"AM Dollar","year":"2005","unstructured":"Dollar AM, Howe RD (2005) Towards grasping in unstructured environments: Grasper compliance and configuration optimization. Adv Robot 19(5): 523\u2013544","journal-title":"Adv Robot"},{"key":"331_CR11","doi-asserted-by":"crossref","first-page":"685","DOI":"10.1017\/S0263574799001800","volume":"17","author":"VN Dubey","year":"1999","unstructured":"Dubey VN, Crowder RM, Chappell PH (1999) Optimal object grasp using tactile sensors and fuzzy logic. Robotica 17: 685\u2013693","journal-title":"Robotica"},{"issue":"2-3","key":"331_CR12","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1016\/j.cogbrainres.2004.11.010","volume":"23","author":"SH Frey","year":"2005","unstructured":"Frey SH, Vinton D, Norlund R, Grafton ST (2005) Cortical topography of human anterior intraparietal cortex active during visually guided grasping. Cogn Brain Res 23(2-3): 397\u2013405","journal-title":"Cogn Brain Res"},{"key":"331_CR13","doi-asserted-by":"crossref","unstructured":"Huebner K, Ruthotto S, Kragic D (2008) Minimum volume bounding box decomposition for shape approximation in robot grasping. In: IEEE International conference on robotics and automation, 2008. ICRA 2008, pp 1628\u20131633","DOI":"10.1109\/ROBOT.2008.4543434"},{"key":"331_CR14","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1007\/978-1-4613-8974-3_2","volume-title":"Dextrous robot hands","author":"T Iberall","year":"1990","unstructured":"Iberall T, MacKenzie CL (1990) Opposition space and human prehension. In: Venkataraman ST, Iberall T (eds) Dextrous robot hands. Springer, New York, p 32"},{"key":"331_CR15","doi-asserted-by":"crossref","unstructured":"Ito S, Mizukoshi Y, Ishihara K, Sasaki M (2006) Optimal direction of grasped object minimizing contact forces. In: Proceedings of the 2006 IEEE\/RSJ international conference on intelligent robots and systems, pp 1588\u20131593","DOI":"10.1109\/IROS.2006.282047"},{"key":"331_CR16","unstructured":"Ito S, Mizukosi Y, Sasaki M (2007) Numerical analysis for optimal posture of circular object grasped with frictions. In: Proceedings of the 2007 IEEE\/RSJ international conference on intelligent robots and systems"},{"issue":"1","key":"331_CR17","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1109\/70.744611","volume":"15","author":"Y-H Liu","year":"1999","unstructured":"Liu Y-H (1999) Qualitative test and force optimization of 3-d frictional form-closure grasps using linear programming. IEEE Trans Robot Autom 15(1): 163\u2013173","journal-title":"IEEE Trans Robot Autom"},{"key":"331_CR18","unstructured":"Lopez-Damian E, Sidobre D, Alami R (2005) Grasp planning for non-convex objects. In: International symposium on robotics, vol 36. Citeseer, p 167"},{"issue":"2","key":"331_CR19","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1016\/0736-5845(96)00001-4","volume":"12","author":"L Mangialardi","year":"1996","unstructured":"Mangialardi L, Mantriota G, Trentadue A (1996) A three-dimensional criterion for the determination of optimal grip points. Robot Comput-Integr Manuf 12(2): 157\u2013167","journal-title":"Robot Comput-Integr Manuf"},{"issue":"2","key":"331_CR20","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1177\/027836498900800202","volume":"8","author":"X Markenscoff","year":"1989","unstructured":"Markenscoff X, Papadimitriou CH (1989) Optimal grip of a polygon. Int J Robot Res 8(2): 17\u201329","journal-title":"Int J Robot Res"},{"key":"331_CR21","doi-asserted-by":"crossref","unstructured":"Miller AT, Allen PK (2000) GraspIt!: a versatile simulator for grasping analysis. In: Proceedings of the ASME dynamic systems and control division","DOI":"10.1115\/IMECE2000-2439"},{"key":"331_CR22","doi-asserted-by":"crossref","unstructured":"Miller AT, Knoop S, Christensen HI, Allen PK (2003) Automatic grasp planning using shape primitives. In: Proceedings of IEEE international conference on robotics and automation (ICRA\u201903), vol 2.","DOI":"10.1109\/ROBOT.2003.1241860"},{"key":"331_CR23","doi-asserted-by":"crossref","unstructured":"Mirtich B, Canny J (1994) Easily computable optimum grasps in 2-d and 3-d. In: Proceedings of IEEE international conference on robotics and automation (ICRA\u201994), pp 739\u2013747","DOI":"10.1109\/ROBOT.1994.351399"},{"issue":"5","key":"331_CR24","doi-asserted-by":"crossref","first-page":"728","DOI":"10.7210\/jrsj.15.728","volume":"15","author":"Y Nakamura","year":"1997","unstructured":"Nakamura Y, Kurushima S (1997) Computation of marginal external force space of power grasp using polyhedral convex set theory. J Robot Soc Jpn 15(5): 728\u2013735","journal-title":"J Robot Soc Jpn"},{"issue":"3","key":"331_CR25","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498800700301","volume":"7","author":"VD Nguyen","year":"1988","unstructured":"Nguyen VD (1988) Constructing force closure grasp. Int J Robot Res 7(3): 3\u201316","journal-title":"Int J Robot Res"},{"key":"331_CR26","doi-asserted-by":"crossref","unstructured":"Omata T (1993) Finger position computation for 3-dimensional equilibrium grasps. In: Proceedings of IEEE international conference on robotics and automation (ICRA\u201993), vol 2, pp 216\u2013222","DOI":"10.1109\/ROBOT.1993.292149"},{"issue":"2","key":"331_CR27","doi-asserted-by":"crossref","first-page":"116","DOI":"10.1007\/s00422-002-0318-1","volume":"87","author":"E Oztop","year":"2002","unstructured":"Oztop E, Arbib MA (2002) Schema design and implementation of the grasp-related mirror neuron system. Biol Cybernet 87(2): 116\u2013140","journal-title":"Biol Cybernet"},{"issue":"3","key":"331_CR28","doi-asserted-by":"crossref","first-page":"536","DOI":"10.1016\/j.rcim.2008.02.008","volume":"25","author":"MA Roa","year":"2009","unstructured":"Roa MA, Su\u00e1rez R (2009) Finding locally optimum force-closure grasps. Robot Comput Integr Manuf 25(3): 536\u2013544","journal-title":"Robot Comput Integr Manuf"},{"issue":"2","key":"331_CR29","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1007\/s00221-003-1527-0","volume":"152","author":"JK Shim","year":"2003","unstructured":"Shim JK, Latash ML, Zatsiorsky VM (2003) Prehension synergies: trial-to-trial variability and hierarchical organization of stable performance. Exp Brain Res 152(2): 173\u2013184","journal-title":"Exp Brain Res"},{"issue":"3","key":"331_CR30","doi-asserted-by":"crossref","first-page":"230","DOI":"10.1177\/027836499601500302","volume":"15","author":"KB Shimoga","year":"1996","unstructured":"Shimoga KB (1996) Robot grasp synthesis algorithms: a survey. Int J Robot Res 15(3): 230\u2013266","journal-title":"Int J Robot Res"},{"key":"331_CR31","doi-asserted-by":"crossref","unstructured":"Watanabe T, Yoshikawa T (2003) Optimization of grasping by using a required external force set. In: Proceedings of IEEE international conference on robotics and automation (ICRA2003), pp 1127\u20131132","DOI":"10.1109\/ROBOT.2003.1241744"},{"issue":"3","key":"331_CR32","doi-asserted-by":"crossref","first-page":"549","DOI":"10.1109\/TRA.2004.824946","volume":"20","author":"Y Xia","year":"2004","unstructured":"Xia Y, Wang J, Fok L-M (2004) Grasping-force optimization for multifingered robotic hands using a recurrent neural network. IEEE Trans Robot Autom 20(3): 549\u2013554","journal-title":"IEEE Trans Robot Autom"},{"key":"331_CR33","doi-asserted-by":"crossref","unstructured":"Yong Y, Takeuchi K, Yoshikawa T (1998) Optimization of robot hand power grasps. In: Proceedings of IEEE international conference on robotics and automation (ICRA\u201998), vol 4, pp 3341\u20133347","DOI":"10.1109\/ROBOT.1998.680954"},{"issue":"5","key":"331_CR34","doi-asserted-by":"crossref","first-page":"446","DOI":"10.3200\/JMBR.40.5.446-476","volume":"40","author":"VM Zatsiorsky","year":"2008","unstructured":"Zatsiorsky VM, Latash ML (2008) Multifinger prehension: an overview. J Motor Behav 40(5): 446\u2013476","journal-title":"J Motor Behav"},{"key":"331_CR35","unstructured":"Zhang X-Y, Nakamura Y, Goda K, Yoshimoto K (1994) Robustness of power grasp. In: Proceedings of IEEE international conference on robotics and automation (ICRA\u201994), vol 4, pp 2828\u20132835"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-009-0331-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00422-009-0331-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-009-0331-8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,12]],"date-time":"2025-02-12T10:39:44Z","timestamp":1739356784000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00422-009-0331-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,9]]},"references-count":35,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,9]]}},"alternative-id":["331"],"URL":"https:\/\/doi.org\/10.1007\/s00422-009-0331-8","relation":{},"ISSN":["0340-1200","1432-0770"],"issn-type":[{"type":"print","value":"0340-1200"},{"type":"electronic","value":"1432-0770"}],"subject":[],"published":{"date-parts":[[2009,9]]}}}