Grasping of deformable objects applied to organic produce

Abstract

Grasping mechanisms (grippers) are used for a wide range of applications including fixturing arrangements, industrial, agricultural, and service robotics for medical and home use. The gripper must immobilize the object it is manipulating, while applying the minimal necessary grasping force, in order to prevent the grasped object's bruising. Performing grasp analysis and synthesis, requires the development of a grasp model. © 2011 Springer-Verlag Berlin Heidelberg.