Synthesizing grasps from generalized prototypes

This paper introduces a grasp synthesis algorithm that can use any grasp prototype as the starting point in a search for a good grasp. The algorithm makes the given prototype more effective by generalizing it for a specific task. This generalization step expands the range of application of the prototype to a wide variety of target object geometries, while ensuring that the resulting grasps are appropriate for the intended task. An example whole-hand grasp synthesized for the Salisbury hand is shown at the end of the paper