José Álvarez-Ruiz

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We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until(More)
As a first step towards transferring human grasping capabilities to robots, we analyzed the grasping behavior of human subjects. We derived a taxonomy in order to adequately represent the observed strategies. During the analysis of the recorded data, this classification scheme helped us to obtain a better understanding of human grasping behavior. We will(More)
Oral rehydration solutions containing 50-90 mEq/L of sodium (Na+) have recently been recommended for the ambulatory management of children with acute diarrhea in the United States. We conducted a randomized study comparing the use of a commercial oral rehydration solution (Rehydralyte), containing 75 mEq/L of Na with the usual method of rehydration with an(More)
As a first step towards transferring human grasping capabilities to robots, we analyzed the grasping behavior of human subjects. We derived a taxonomy in order to adequately represent the observed strategies. During the analysis of the recorded data, this classification scheme helped us to obtain a better understanding of human grasping behavior. We will(More)
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