The GRASP Taxonomy of Human Grasp Types

A comprehensive grasp taxonomy

The goal of this work is to overview and summarize the grasping taxonomies reported in the literature. Our long term goal is to understand how to reduce mechanical complexity of anthropomorphic hands and still preserve their dexterity. On the basis of a literature survey, 33 different grasp types are taken into account. They were then arranged in a hierarchical manner, resulting in 17 grasp types.

Decoding natural grasp types from human ECoG

Electrocorticographic (ECoG) signals have been successfully used to provide information about arm movement direction, individual finger movements and even continuous arm movement trajectories. Thus, ECoG has been proposed as a potential control signal for implantable brain-machine interfaces (BMIs) in paralyzed patients. For the neuronal control of a prosthesis with versatile hand/arm functions...

Human grasp point selection.

When we grasp an object, our visuomotor system has to solve an intricate problem: how to find the best out of an infinity of possible contact points of the fingers with the object? The contact point selection model (CoPS) we present here solves this problem and predicts human grasp point selection in precision grip grasping by combining a few basic rules that have been identified in human and r...

robot 1 Human Grasp Choice and Robotic Grasp Analysis

In studying grasping and manipulation we find two very different approaches to the subject: knowledge-based approaches based primarily on empirical studies of human grasping and manipulation, and analytical approaches based primarily on physical models of the manipulation process. This chapter begins with a review of studies of human grasping, in particular our development of a grasp taxonomy a...

Grasp.