Dynamic manipulation based on thumb opposability: Passivity-based blind grasping and manipulation

Ryuta Ozawa, Ji Hun Bae

Research output: Chapter in Book/Report/Conference proceedingChapter


Force/torque closure is one of the most powerful tools to evaluate a grasp and while it is only a necessary condition to secure a grasp; another control strategy is, therefore, needed to robustly stabilize a grasped object. We will discuss about a robust grasp control method called blind grasping, based on thumb opposability and is one of the most important anatomical features of the hands. The controller can be easily implemented without force sensors and object sensing. Furthermore, it is easy to superpose lower-priority tasks on this controller. We implement this controller in several robotic hand systems, such as teleoperated and semiautonomous systems, and will show the robustness of the proposed method.

Original languageEnglish
Title of host publicationHuman Inspired Dexterity in Robotic Manipulation
Number of pages15
ISBN (Electronic)9780128133965
ISBN (Print)9780128133859
Publication statusPublished - 29 Jun 2018



  • Manipulation
  • Opposition
  • Passivity-based control
  • Robotic hands

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