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. 2016 Oct 7;13:90. doi: 10.1186/s12984-016-0197-7

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© The Author(s). 2016

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 5 — Example of a direct grasping trial with a low-resistance object. a Reach velocity of the hook, b hook aperture and, c the deformation of the object are plotted against the time. Several kinematic variables are represented by a = Reach time, b = Plateau time, c = Hook closing time, d = Compression at moment of grasp, e = Compression during manipulation