关键词：传感器；互动框架
摘 要：The grasp and the task are two actions closely related. A grasp is always performed with a purpose in mind, and the execution of a task requires a suitable task-oriented grasp in most of the cases. The grasp does not need to be prehensile. Most of our daily life manipulation is done trough non-prehensile grasps. Interaction with the environment is always preceded by a contact configuration, as a result of a prehensile or non-prehensile grasp. And vice versa, a contact configuration on one object is always followed by a desired motion according to the task: lift, push, etc.