Table 1 Objects used in the experimental trials
Object | Shape | Size [mm] | Grasp Type |
|---|---|---|---|
Paper roll | cylindrical | d = 47; h = 225 | power |
Spray | cylindrical | d = 52; h = 140 | power |
2 l bottle | cylindrical | d = 90 | power |
0.5 l bottle | cylindrical | d = 65 | power |
Coke tin | cylindrical | d = 65; h = 110 | power |
Twine roll | cylindrical | d = 60; h = 80 | power |
Cigarette pack | parallelepiped | 20 × 55 × 85 | power |
Torch | cylindrical | d = 35; h = 165 | power |
Golf ball | spherical | d = 40 | precision |
Plastic sphere | spherical | d = 33 | precision |
Soft rubber ball | spherical | d = 50 | precision |
Electric adapter plug | cylindrical | d = 43; h = 40 | precision |
Plastic cube | cube | L = 30 | precision |
Paperclips pack | parallelepiped | 70 × 38 × 15 | precision |
CD | circular | d = 120 | lateral |
Single CD case | rectangular | 140 × 125 × 5 | lateral |
Pad-per-hole perfboard | rectangular | h = 2 | lateral |
Audio-cassette case | parallelepiped | 108 × 67 × 16 | lateral |
Business card | rectangular | h = 1 | lateral |
Post-it notes package | parallelepiped | 78 × 127 × 8 | lateral |