Abstract-Automatic grasp planning for robotic hands is a difficult problem because of the huge number of possible hand configurations. However, humans simplify the problem by choosing an appropriate prehensile posture appropriate for the object and task to be performed. By modeling an object as a set of shape primitives, such as spheres, cylinders, cones and boxes, we can use a set of NI-to generate a set of grasp starting positions and pregrasp shapes that can then be tested on the object model. Each grasp is tested and evaluated within our grasping simulator "GraspIt!", and the best grasps are presented to the user. The simulator can also plan grasps in a complex environment involving obstacles and the reachability constraints of a robot arm.

Pleckstrin homology (PH) domain-mediated protein recruitment to cellular membranes is of paramount importance for signal transduction. The recruitment of many PH domains is controlled through production and turnover of their membrane ligand, phosphatidylinositol 3,4,5-trisphosphate (PIP3). We show that phosphorylation of the second messenger inositol 1,4,5-trisphosphate (IP3) into inositol 1,3,4,5-tetrakisphosphate (IP4) establishes another mode of PH domain regulation through a soluble ligand. At physiological concentrations, IP4 promoted PH domain binding to PIP3. In primary mouse CD4+CD8+ thymocytes, this was required for full activation of the protein tyrosine kinase Itk after T cell receptor engagement. Our data suggest that IP4 establishes a feedback loop of phospholipase C-gamma1 activation through Itk that is essential for T cell development.