Change grip on object |
  
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Change grip on object |
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When picking up an object, the human model’s hands may not be positioned correctly on the predefined grasping points due to obstructions or reach exceedance.
This task has different results depending on the number of hands used to grasp a given object. If one hand is used, the object is attempted to be held in the center of the palm. Using one hand is ideal for grasping tools because it is more likely a tool is grasped in the correct position, and is therefore more likely to be used successfully by the human model.
When two hands are used to grasp an object, the human model aims to hold the object in a ‘comfortable’ position in front of the body.
Subordinate tasks:
Grasp, Remove object link, Create object link
Parameter |
Type |
Mand. |
Meaning |
|---|---|---|---|
Object to be handled |
Object |
yes |
An object parameter defining the object on which hand moves maintaining the contact. |
Target (grabpoint) for left / right hand |
Position & orientation |
no |
Coordinate parameters allowing an optional definition of grasping points to be used during the encompassing. |
iThe presence of user-defined grasping points at the object is the precondition for a functional, single-handed displacement. |