Experimental evaluation of Postural Synergies during Reach to Grasp with the UB Hand IV

In this paper, the postural synergies configuration subspace given by the fundamental eigengrasps of the UB Hand IV (University of Bologna Hand, version IV) is derived through experiments. This study is based on the kinematic structure of the robotic hand and on the taxonomy of the grasps of common objects. Experimental results show that it is possible to obtain grasp synthesis for a large set of objects both in the case of precision or power grasps by using only a very limited set of dominant eigengrasps. The tasks here presented are planned with an initial hold of the hand followed by reach and grasp phases, that are unique for each object/grasp combination, during which the robotic hand posture evolves continuously within a subset of the hand configuration space given by the two predominant eigenpostures. The paper reports the method adopted to define from experiments the postural synergies for the UB Hand IV and the results of the grasp tasks performed adopting the defined synergies