Grasping an object by approaching with optimal hand preshaping

In this paper, the continuity of the robot finger motions while closing upon the object surface is aimed to model in fluidic environment. For that purpose, we proposed a new method based on the computational fluid dynamics to investigate the effect of momentum transferred firstly from the fingers to the environment, and then from the environment to the object surface. By investigating the effect of the moment and forces on the object surfaces generated from the fingers, the determining optimal hand preshapes is aimed to obtain at the initial position of the fingers for grasping an object. The features of the hand preshapes and objects are extracted to develop the decision support systems. The proposed method is tested on the simulation environment for analyzing the effect of momentum on the object surface according to the different hand preshapes.