{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T16:25:36Z","timestamp":1776183936831,"version":"3.50.1"},"reference-count":59,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"27","funder":[{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["project acronym: MYKI, project number: 679820"],"award-info":[{"award-number":["project acronym: MYKI, project number: 679820"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["project acronym: MYKI, project number: 679820"],"award-info":[{"award-number":["project acronym: MYKI, project number: 679820"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000923","name":"Australian Research Council","doi-asserted-by":"publisher","award":["Centre of Excellence for Robotic Vision (project number CE140100016)"],"award-info":[{"award-number":["Centre of Excellence for Robotic Vision (project number CE140100016)"]}],"id":[{"id":"10.13039\/501100000923","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000923","name":"Australian Research Council","doi-asserted-by":"publisher","award":["Centre of Excellence for Robotic Vision (project number CE140100016)"],"award-info":[{"award-number":["Centre of Excellence for Robotic Vision (project number CE140100016)"]}],"id":[{"id":"10.13039\/501100000923","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2019,2,20]]},"abstract":"<jats:p>During a handover, passers prefer precision grasps and grasp purposive parts of objects, leaving \u201chandles\u201d free for receivers.<\/jats:p>","DOI":"10.1126\/scirobotics.aau9757","type":"journal-article","created":{"date-parts":[[2019,2,14]],"date-time":"2019-02-14T00:07:03Z","timestamp":1550102823000},"source":"Crossref","is-referenced-by-count":96,"title":["On the choice of grasp type and location when handing over an object"],"prefix":"10.1126","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0128-2105","authenticated-orcid":true,"given":"F.","family":"Cini","sequence":"first","affiliation":[{"name":"The Biorobotics Institute, Scuola Superiore Sant\u2019Anna, Viale Rinaldo Piaggio 34, 56025 Pisa, Italy."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8194-1616","authenticated-orcid":true,"given":"V.","family":"Ortenzi","sequence":"additional","affiliation":[{"name":"ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD 4001, Australia."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6650-367X","authenticated-orcid":true,"given":"P.","family":"Corke","sequence":"additional","affiliation":[{"name":"ARC Centre of Excellence for Robotic Vision, Queensland University of Technology, Brisbane, QLD 4001, Australia."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2135-0707","authenticated-orcid":true,"given":"M.","family":"Controzzi","sequence":"additional","affiliation":[{"name":"The Biorobotics Institute, Scuola Superiore Sant\u2019Anna, Viale Rinaldo Piaggio 34, 56025 Pisa, Italy."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","unstructured":"A. Bicchi V. Kumar Robotic grasping and contact: A review in Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation (IEEE 2000) vol. 1 pp. 348\u2013353."},{"key":"e_1_3_2_3_2","doi-asserted-by":"crossref","first-page":"815","DOI":"10.1016\/0959-4388(92)90139-C","article-title":"Sensory-motor coordination during grasping and manipulative actions","volume":"2","author":"Johansson R. S.","year":"1992","unstructured":"R. S. Johansson, K. J. Cole, Sensory-motor coordination during grasping and manipulative actions. Curr. Opin. Neurobiol. 2, 815\u2013823 (1992).","journal-title":"Curr. Opin. Neurobiol."},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.34763"},{"key":"e_1_3_2_5_2","doi-asserted-by":"crossref","first-page":"437","DOI":"10.5014\/ajot.34.7.437","article-title":"Patterns of static prehension in normal hands","volume":"34","author":"Kamakura N.","year":"1980","unstructured":"N. Kamakura, M. Matsuo, H. Ishii, F. Mitsuboshi, Y. Miura, Patterns of static prehension in normal hands. Am. J. Occup. Ther. 34, 437\u2013445 (1980).","journal-title":"Am. J. Occup. Ther."},{"key":"e_1_3_2_6_2","doi-asserted-by":"crossref","first-page":"2456","DOI":"10.1152\/jn.01107.2005","article-title":"Effects of end-goal on hand shaping","volume":"95","author":"Ansuini C.","year":"2006","unstructured":"C. Ansuini, M. Santello, S. Massaccesi, U. Castiello, Effects of end-goal on hand shaping. J. Neurophysiol. 95, 2456\u20132465 (2006).","journal-title":"J. Neurophysiol."},{"key":"e_1_3_2_7_2","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1007\/s00221-007-1136-4","article-title":"An object for an action, the same object for other actions: Effects on hand shaping","volume":"185","author":"Ansuini C.","year":"2008","unstructured":"C. Ansuini, L. Giosa, L. Turella, G. Alto\u00e8, U. Castiello, An object for an action, the same object for other actions: Effects on hand shaping. Exp. Brain Res. 185, 111\u2013119 (2008).","journal-title":"Exp. Brain Res."},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cognition.2007.05.004"},{"key":"e_1_3_2_9_2","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1109\/THMS.2015.2470657","article-title":"The grasp taxonomy of human grasp types","volume":"46","author":"Feix T.","year":"2016","unstructured":"T. Feix, J. Romero, H.-B. Schmiedmayer, A. M. Dollar, D. Kragic, The grasp taxonomy of human grasp types. IEEE Trans. Human-Machine Syst. 46, 66\u201377 (2016).","journal-title":"IEEE Trans. Human-Machine Syst."},{"key":"e_1_3_2_10_2","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1109\/TOH.2012.53","article-title":"A hand-centric classification of human and robot dexterous manipulation","volume":"6","author":"Bullock I. M.","year":"2013","unstructured":"I. M. Bullock, R. R. Ma, A. M. Dollar, A hand-centric classification of human and robot dexterous manipulation. IEEE Trans. Haptic 6, 129\u2013144 (2013).","journal-title":"IEEE Trans. Haptic"},{"key":"e_1_3_2_11_2","doi-asserted-by":"crossref","first-page":"415","DOI":"10.1109\/TOH.2014.2321395","article-title":"Analysis of hand contact areas and interaction capabilities during manipulation and exploration","volume":"7","author":"Gonzalez F.","year":"2014","unstructured":"F. Gonzalez, F. Gosselin, W. Bachta, Analysis of hand contact areas and interaction capabilities during manipulation and exploration. IEEE Trans. Haptic 7, 415\u2013429 (2014).","journal-title":"IEEE Trans. Haptic"},{"key":"e_1_3_2_12_2","doi-asserted-by":"crossref","first-page":"902","DOI":"10.1302\/0301-620X.38B4.902","article-title":"The prehensile movements of the human hand","volume":"38","author":"Napier J. R.","year":"1956","unstructured":"J. R. Napier, The prehensile movements of the human hand. J. Bone Joint Surg. Br. 38-B, 902\u2013913 (1956).","journal-title":"J. Bone Joint Surg. Br."},{"key":"e_1_3_2_13_2","doi-asserted-by":"crossref","unstructured":"R. Detry J. Papon L. Matthies Task-oriented grasping with semantic and geometric scene understanding in 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2017) pp. 3266\u20133273.","DOI":"10.1109\/IROS.2017.8206162"},{"key":"e_1_3_2_14_2","doi-asserted-by":"crossref","first-page":"798","DOI":"10.1109\/TASE.2015.2396014","article-title":"Learning to detect visual grasp affordance","volume":"13","author":"Song H. O.","year":"2016","unstructured":"H. O. Song, M. Fritz, D. Goehring, T. Darrell, Learning to detect visual grasp affordance. IEEE Trans. Autom. Sci. Eng. 13, 798\u2013809 (2016).","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"e_1_3_2_15_2","doi-asserted-by":"crossref","unstructured":"D. Song C. H. Ek K. Huebner D. Kragic Multivariate discretization for bayesian network structure learning in robot grasping in 2011 IEEE International Conference on Robotics and Automation (IEEE 2011) pp. 1944\u20131950.","DOI":"10.1109\/ICRA.2011.5979666"},{"key":"e_1_3_2_16_2","doi-asserted-by":"crossref","unstructured":"M. Kokic J. A. Stork J. A. Haustein D. Kragic Affordance detection for task-specific grasping using deep learning in 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) (IEEE 2017) pp. 91\u201398.","DOI":"10.1109\/HUMANOIDS.2017.8239542"},{"key":"e_1_3_2_17_2","doi-asserted-by":"crossref","unstructured":"M. Hjelm C. H. Ek R. Detry D. Kragic Learning human priors for task-constrained grasping in Computer Vision Systems. ICVS 2015 L. Nalpantidis V. Kr\u00fcger J. O. Eklundh A. Gasteratos Ed. (Springer 2015) pp. 207\u2013217.","DOI":"10.1007\/978-3-319-20904-3_20"},{"key":"e_1_3_2_18_2","doi-asserted-by":"crossref","unstructured":"A. Nguyen D. Kanoulas D. G. Caldwell N. G. Tsagarakis Detecting object affordances with convolutional neural networks in 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2016) pp. 2765\u20132770.","DOI":"10.1109\/IROS.2016.7759429"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2289018"},{"key":"e_1_3_2_20_2","doi-asserted-by":"crossref","unstructured":"L. Pinto A. Gupta Supersizing self-supervision: Learning to grasp from 50K tries and 700 robot hours in Proceedings\u2014IEEE International Conference on Robotics and Automation (IEEE 2016) vol. 2016\u2013June pp. 3406\u20133413.","DOI":"10.1109\/ICRA.2016.7487517"},{"key":"e_1_3_2_21_2","doi-asserted-by":"crossref","unstructured":"S. Levine P. Pastor A. Krizhevsky J. Ibarz D. Quillen Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection in International Symposium on Experimental Robotics. Springer Proceedings in Advanced Robotics vol 1. (Springer 2016) pp. 173\u2013184.","DOI":"10.1007\/978-3-319-50115-4_16"},{"key":"e_1_3_2_22_2","doi-asserted-by":"crossref","unstructured":"D. Morrison P. Corke J. Leitner Closing the loop for robotic grasping: A real-time generative grasp synthesis approach in Proceedings of Robotics: Science and Systems XIV (2018).","DOI":"10.15607\/RSS.2018.XIV.021"},{"key":"e_1_3_2_23_2","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1007\/s00221-004-2157-x","article-title":"Grip forces when passing an object to a partner","volume":"163","author":"Mason A. H.","year":"2005","unstructured":"A. H. Mason, C. L. MacKenzie, Grip forces when passing an object to a partner. Exp. Brain Res. 163, 173\u2013187 (2005).","journal-title":"Exp. Brain Res."},{"key":"e_1_3_2_24_2","doi-asserted-by":"crossref","unstructured":"P. Basili M. Huber T. Brandt S. Hirche S. Glasauer Investigating human-human approach and hand-over in Human Centered Robot Systems. Cognitive Systems Monographs (Springer 2009) pp. 151\u2013160.","DOI":"10.1007\/978-3-642-10403-9_16"},{"key":"e_1_3_2_25_2","doi-asserted-by":"crossref","unstructured":"M. K. Lee J. Forlizzi S. Kiesler M. Cakmak S. Srinivasa Predictability or adaptivity?: Designing robot handoffs modeled from trained dogs and people in Proceedings of the 6th International Conference on Human-Robot Interaction (ACM Press 2011) pp. 179\u2013180.","DOI":"10.1145\/1957656.1957720"},{"key":"e_1_3_2_26_2","doi-asserted-by":"crossref","unstructured":"K. Strabala M. K. Lee A. Dragan J. Forlizzi S. S. Srinivasa Learning the communication of intent prior to physical collaboration in Proceedings\u2014IEEE International Workshop on Robot and Human Interactive Communication (IEEE 2012) pp. 968\u2013973.","DOI":"10.1109\/ROMAN.2012.6343875"},{"key":"e_1_3_2_27_2","doi-asserted-by":"crossref","first-page":"112","DOI":"10.5898\/JHRI.2.1.Strabala","article-title":"Towards seamless human-robot handovers","volume":"2","author":"Strabala K. W.","year":"2013","unstructured":"K. W. Strabala, M. K. Lee, D. Anca, J. Forlizzi, S. S. Srinivasa, Towards seamless human-robot handovers. J. Human-Robot Interact. 2, 112\u2013132 (2013).","journal-title":"J. Human-Robot Interact."},{"key":"e_1_3_2_28_2","doi-asserted-by":"crossref","unstructured":"W. P. Chan C. A. C. Parker H. F. M. Van der Loos E. A. Croft Grip forces and load forces in handovers: Implications for designing human-robot handover controllers in Proceedings of the Seventh Annual ACM\/IEEE International Conference on Human-Robot Interaction\u2014HRI \u201912 (ACM Press 2012) pp. 9\u201316.","DOI":"10.1145\/2157689.2157692"},{"key":"e_1_3_2_29_2","doi-asserted-by":"crossref","first-page":"971","DOI":"10.1177\/0278364913488806","article-title":"A human-inspired object handover controller","volume":"32","author":"Chan W. P.","year":"2013","unstructured":"W. P. Chan, C. A. Parker, H. M. Van der Loos, E. A. Croft, A human-inspired object handover controller. Int. J. Rob. Res. 32, 971\u2013983 (2013).","journal-title":"Int. J. Rob. Res."},{"key":"e_1_3_2_30_2","unstructured":"M. K. X. J. Pan E. A. Croft G. Niemeyer Exploration of geometry and forces occurring within human-to-robot handovers in 2018 IEEE Haptics Symposium (HAPTICS) (IEEE 2018) pp. 327\u2013333."},{"key":"e_1_3_2_31_2","doi-asserted-by":"crossref","unstructured":"A. Moon D. M. Troniak B. Gleeson M. K. X. J. Pan M. Zheng B. A. Blumer K. MacLean E. A. Croft Meet me where I\u2019m gazing: How shared attention gaze affects human-robot handover timing in Proceedings of the 2014 ACM\/IEEE international conference on Human-robot interaction\u2014HRI \u201914 (ACM Press 2014) pp. 334\u2013341.","DOI":"10.1145\/2559636.2559656"},{"key":"e_1_3_2_32_2","doi-asserted-by":"crossref","unstructured":"E. C. Grigore K. Eder A. G. Pipe C. Melhuish U. Leonards Joint action understanding improves robot-to-human object handover in IEEE International Conference on Intelligent Robots and Systems (IEEE 2013) pp. 4622\u20134629.","DOI":"10.1109\/IROS.2013.6697021"},{"key":"e_1_3_2_33_2","doi-asserted-by":"crossref","unstructured":"M. Cakmak S. S. Srinivasa M. K. Lee S. Kiesler J. Forlizzi Using spatial and temporal contrast for fluent robot-human hand-overs in Proceedings of the 6th international conference on Human-robot interaction\u2014HRI \u201911 (ACM Press 2011) p. 489.","DOI":"10.1145\/1957656.1957823"},{"key":"e_1_3_2_34_2","doi-asserted-by":"crossref","first-page":"785","DOI":"10.1016\/j.apergo.2010.12.005","article-title":"Physiological and subjective evaluation of a human\u2013robot object hand-over task","volume":"42","author":"Dehais F.","year":"2011","unstructured":"F. Dehais, E. A. Sisbot, R. Alami, M. Causse, Physiological and subjective evaluation of a human\u2013robot object hand-over task. Appl. Ergon. 42, 785\u2013791 (2011).","journal-title":"Appl. Ergon."},{"key":"e_1_3_2_35_2","unstructured":"K. Koay E. A. Sisbot D. S. Syrdal M. L. Walters K. Dautenhahn R. Alami Exploratory study of a robot approaching a person in the context of handing over an object in AAAI Spring Symposium: Multidisciplinary Collaboration for Socially Assistive Robotics (Association for the Advancement of Artificial Intelligence 2007) pp. 18\u201324."},{"key":"e_1_3_2_36_2","doi-asserted-by":"crossref","unstructured":"M. Cakmak S. S. Srinivasa Min Kyung Lee J. Forlizzi S. Kiesler Human preferences for robot-human hand-over configurations in 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE 2011) pp. 1986\u20131993.","DOI":"10.1109\/IROS.2011.6094735"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.914848"},{"key":"e_1_3_2_38_2","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1207\/S15326969ECO1502_5","article-title":"An outline of a theory of affordances","volume":"15","author":"Chemero A.","year":"2003","unstructured":"A. Chemero, An outline of a theory of affordances. Ecol. Psychol. 15, 181\u2013195 (2003).","journal-title":"Ecol. Psychol."},{"key":"e_1_3_2_39_2","doi-asserted-by":"crossref","first-page":"517","DOI":"10.1037\/a0019004","article-title":"Grasping the affordances, understanding the reasoning: Toward a dialectical theory of human tool use","volume":"117","author":"Osiurak F.","year":"2010","unstructured":"F. Osiurak, C. Jarry, D. Le Gall, Grasping the affordances, understanding the reasoning: Toward a dialectical theory of human tool use. Psychol. Rev. 117, 517\u2013540 (2010).","journal-title":"Psychol. Rev."},{"key":"e_1_3_2_40_2","doi-asserted-by":"crossref","first-page":"164","DOI":"10.1136\/ard.21.2.164","article-title":"Power grip and precision handling","volume":"21","author":"Landsmeer J. M.","year":"1962","unstructured":"J. M. Landsmeer, Power grip and precision handling. Ann. Rheum. Dis. 21, 164\u2013170 (1962).","journal-title":"Ann. Rheum. Dis."},{"key":"e_1_3_2_41_2","unstructured":"T. Iberall The nature of human prehension: Three dextrous hands in one in 1987 IEEE International Conference on Robotics and Automation (Institute of Electrical and Electronics Engineers 1987) vol. 4 pp. 396\u2013401."},{"key":"e_1_3_2_42_2","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1177\/027836499701600302","article-title":"Human prehension and dexterous robot hands","volume":"16","author":"Iberall T.","year":"1997","unstructured":"T. Iberall, Human prehension and dexterous robot hands. Int. J. Rob. Res. 16, 285\u2013299 (1997).","journal-title":"Int. J. Rob. Res."},{"key":"e_1_3_2_43_2","unstructured":"C. L. MacKenzie T. Iberall The Grasping Hand (North-Holland 1994)."},{"key":"e_1_3_2_44_2","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1109\/TOH.2014.2326871","article-title":"Analysis of human grasping behavior: Object characteristics and grasp type","volume":"7","author":"Feix T.","year":"2014","unstructured":"T. Feix, I. M. Bullock, A. M. Dollar, Analysis of human grasping behavior: Object characteristics and grasp type. IEEE Trans. Haptics. 7, 311\u2013323 (2014).","journal-title":"IEEE Trans. Haptics."},{"key":"e_1_3_2_45_2","doi-asserted-by":"crossref","first-page":"430","DOI":"10.1109\/TOH.2014.2326867","article-title":"Analysis of human grasping behavior: Correlating tasks, objects and grasps","volume":"7","author":"Feix T.","year":"2014","unstructured":"T. Feix, I. M. Bullock, A. M. Dollar, Analysis of human grasping behavior: Correlating tasks, objects and grasps. IEEE Trans. Haptic 7, 430\u2013441 (2014).","journal-title":"IEEE Trans. Haptic"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1016\/0166-2236(83)90011-5"},{"key":"e_1_3_2_47_2","first-page":"3","article-title":"Properties of cutaneous mechanoreceptors in the human hand related to touch sensation","volume":"3","author":"Vallbo A. B.","year":"1984","unstructured":"A. B. Vallbo, R. S. Johansson, Properties of cutaneous mechanoreceptors in the human hand related to touch sensation. Hum. Neurobiol. 3, 3\u201314 (1984).","journal-title":"Hum. Neurobiol."},{"key":"e_1_3_2_48_2","doi-asserted-by":"crossref","first-page":"1697","DOI":"10.1109\/TMECH.2014.2349855","article-title":"A multigrasp hand prosthesis for providing precision and conformal grasps","volume":"20","author":"Bennett D. A.","year":"2015","unstructured":"D. A. Bennett, S. A. Dalley, D. Truex, M. Goldfarb, A multigrasp hand prosthesis for providing precision and conformal grasps. IEEE\/ASME Trans. Mechatronics 20, 1697\u20131704 (2015).","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"e_1_3_2_49_2","doi-asserted-by":"crossref","first-page":"2214","DOI":"10.1109\/TMECH.2016.2551557","article-title":"A slip detection and correction strategy for precision robot grasping","volume":"21","author":"Stachowsky M.","year":"2016","unstructured":"M. Stachowsky, T. Hummel, M. Moussa, H. A. Abdullah, A slip detection and correction strategy for precision robot grasping. IEEE\/ASME Trans. Mechatronic 21, 2214\u20132226 (2016).","journal-title":"IEEE\/ASME Trans. Mechatronic"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF00237997"},{"key":"e_1_3_2_52_2","doi-asserted-by":"crossref","first-page":"2456","DOI":"10.1152\/jn.01107.2005","article-title":"Effects of end-goal on hand shaping","volume":"95","author":"Ansuini C.","year":"2005","unstructured":"C. Ansuini, M. Santello, S. Massaccesi, U. Castiello, Effects of end-goal on hand shaping. J. Neurophysiol. 95, 2456\u20132465 (2005).","journal-title":"J. Neurophysiol."},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4693-06.2007"},{"key":"e_1_3_2_54_2","doi-asserted-by":"crossref","first-page":"238","DOI":"10.1016\/j.actpsy.2006.03.005","article-title":"Visual object affordances: Object orientation","volume":"124","author":"Symes E.","year":"2007","unstructured":"E. Symes, R. Ellis, M. Tucker, Visual object affordances: Object orientation. Acta Psychol. (Amst) 124, 238\u2013255 (2007).","journal-title":"Acta Psychol. (Amst)"},{"key":"e_1_3_2_55_2","unstructured":"J. J. Gibson The Ecological Approach to Visual Perception (Routledge 1899)."},{"key":"e_1_3_2_56_2","unstructured":"D. A. Norman The Design of Everyday Things (Verlag Franz Vahlen GmbH 2016)."},{"key":"e_1_3_2_57_2","doi-asserted-by":"crossref","first-page":"e25203","DOI":"10.1371\/journal.pone.0025203","article-title":"How objects are grasped: The interplay between affordances and end-goals","volume":"6","author":"Sartori L.","year":"2011","unstructured":"L. Sartori, E. Straulino, U. Castiello, How objects are grasped: The interplay between affordances and end-goals. PLOS ONE 6, e25203 (2011).","journal-title":"PLOS ONE"},{"key":"e_1_3_2_58_2","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1016\/j.newideapsych.2011.12.003","article-title":"Affordances can invite behavior: Reconsidering the relationship between affordances and agency","volume":"30","author":"Withagen R.","year":"2012","unstructured":"R. Withagen, H. J. de Poel, D. Ara\u00fajo, G.-J. Pepping, Affordances can invite behavior: Reconsidering the relationship between affordances and agency. New Ideas Psychol. 30, 250\u2013258 (2012).","journal-title":"New Ideas Psychol."},{"key":"e_1_3_2_59_2","doi-asserted-by":"crossref","first-page":"5027","DOI":"10.1038\/s41598-018-23275-9","article-title":"Evidence for a dyadic motor plan in joint action","volume":"8","author":"Sacheli L. M.","year":"2018","unstructured":"L. M. Sacheli, E. Arcangeli, E. Paulesu, Evidence for a dyadic motor plan in joint action. Sci. Rep. 8, 5027 (2018).","journal-title":"Sci. Rep."},{"key":"e_1_3_2_60_2","doi-asserted-by":"crossref","first-page":"225","DOI":"10.1016\/j.jht.2014.04.002","article-title":"An introductory study of common grasps used by adults during performance of activities of daily living","volume":"27","author":"Vergara M.","year":"2014","unstructured":"M. Vergara, J. L. Sancho-Bru, V. Gracia-Ib\u00e1\u00f1ez, A. P\u00e9rez-Gonz\u00e1lez, An introductory study of common grasps used by adults during performance of activities of daily living. J. Hand Ther. 27, 225\u2013234 (2014).","journal-title":"J. Hand Ther."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/syndication.highwire.org\/content\/doi\/10.1126\/scirobotics.aau9757","content-type":"unspecified","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.aau9757","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T12:19:34Z","timestamp":1705407574000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.aau9757"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,20]]},"references-count":59,"journal-issue":{"issue":"27","published-print":{"date-parts":[[2019,2,20]]}},"alternative-id":["10.1126\/scirobotics.aau9757"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.aau9757","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2,20]]},"article-number":"eaau9757"}}