Grasping of Deformable Objects Applied to Organic Produce

  • Alon Ohev-Zion
  • Amir Shapiro
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6856)


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.


Contact Point Contact Model Decomposition Tree Contact Patch Current Grasp 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Alon Ohev-Zion
    • 1
  • Amir Shapiro
    • 1
  1. 1.Department of Mechanical EngineeringBen-Gurion University of the NegevBe’er-ShevaIsrael

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