{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:59:04Z","timestamp":1760241544218,"version":"build-2065373602"},"reference-count":45,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2018,5,3]],"date-time":"2018-05-03T00:00:00Z","timestamp":1525305600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish Government","award":["DPI2016-80077-R"],"award-info":[{"award-number":["DPI2016-80077-R"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach.<\/jats:p>","DOI":"10.3390\/s18051412","type":"journal-article","created":{"date-parts":[[2018,5,4]],"date-time":"2018-05-04T03:08:21Z","timestamp":1525403301000},"page":"1412","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9171-0654","authenticated-orcid":false,"given":"Andr\u00e9s","family":"Monta\u00f1o","sequence":"first","affiliation":[{"name":"Institute of Industrial and Control Engineering (IOC), Universitat Polit\u00e8cnica de Catalunya (UPC), 08028 Barcelona, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3853-7095","authenticated-orcid":false,"given":"Ra\u00fal","family":"Su\u00e1rez","sequence":"additional","affiliation":[{"name":"Institute of Industrial and Control Engineering (IOC), Universitat Polit\u00e8cnica de Catalunya (UPC), 08028 Barcelona, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,5,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"652","DOI":"10.1109\/70.897777","article-title":"Hands for Dextrous Manipulation and Powerful Grasping: A Difficult Road Towards Simplicity","volume":"16","author":"Bicchi","year":"2000","journal-title":"IEEE Trans. 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