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. 2015 Nov 19;109:639–669. doi: 10.1007/s00422-015-0666-2

Fig. 13.

Fig. 13

Stable power grasps generated by the model of different objects with various positions and orientations. Each panel shows a third-person view on the left and the model’s first-person view on the right. a Sphere, b rectangular prism, c cylinder, d plate