Analysis on detaching assist motion (DAM)

Through group experiments by human, we found an interesting grasping pattern, where the human can easily captures a small object placed on a table by changing the finger posture from upright to curved ones after each finger making contact with the object. A series of this motion is called as detaching assist motion (DAM). This paper discusses a condition for achieving DAM by taking the idea of self-posture changing motion. A sufficient condition for lifting up an object from the table is discussed. Some experiments are also shown to verify the condition.