Through grasp experiments by human achieving an enveloping grasp for a small cylindrical object placed on a table, we found an interesting grasping motion, where human changes the finger posture from upright to curved ones after each finger makes contact with the object. During this motion, the object is automatically lifted up through either rolling or sliding motion between the finger tip and the object. A series of this motion is called as
Detaching Assist Motion (DAM) . An advantage of
DAM is that most of grasping motions can be done on the table instead of in the air. Therefore, we can avoid the worst scenario where the object falls down to the table. We first discuss the basic mechanism of
DAM by human experiments. We then apply the
DAM to a grasping motion by a multi-fingered robot hand. We show that the
DAM can be explained by using
Self-Posture Changing Motion. We also show some simulation and experimental results to confirm that a small object can be grasped easily by applying the
DAM.
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