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Parametric Generative Grasp Synthesis (Approach (Offline Grasp Synthesis…

- - - - Simulated experiments
        
        Results
        
        Not as great
        
        Future Work
        
        Gripper
        
        Gripper is good because it is quicker&simpler to compute FA measures
      - Real robot validation
        
        Boris
        
        Sensorisation of the Pisa/IIT SoftHand
        
        Data-glove
        
        Sequence of pictures of the sensorised glove
        
        Evaluation of performance [TODO]
        
        Flexion vs angle plot
        
        Kinova
        
        "The method has been also deployed on the Kinova platform"
        
        Show example grasps
  - - - Under-actuation performance
        
        With feedback control (data-glove)
        
        Without feedback