The GRASP Taxonomy of Human Grasp Types

In this paper, we analyze and compare existing human grasp taxonomies and synthesize them into a single new taxonomy (dubbed "The GRASP Taxonomy" after the GRASP project funded by the European Commission). We consider only static and stable grasps performed by one hand. The goal is to extr...

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Vydáno v:IEEE transactions on human-machine systems Ročník 46; číslo 1; s. 66 - 77
Hlavní autoři: Feix, Thomas, Romero, Javier, Schmiedmayer, Heinz-Bodo, Dollar, Aaron M., Kragic, Danica
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.02.2016
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Classification
Fingers
Force
Grasping
Hand/wrist posture
Human
human factors
Human-computer interface
human-robot interaction
Man machine systems
robotics
Robots
Shape
taxonomies
Taxonomy
Terminology
Thumb
User interfaces
Vocabularies & taxonomies
robotics
Hand/wrist posture
taxonomies
human–robot interaction
human factors
ISSN:2168-2291, 2168-2305, 2168-2305
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Popis
Shrnutí:In this paper, we analyze and compare existing human grasp taxonomies and synthesize them into a single new taxonomy (dubbed "The GRASP Taxonomy" after the GRASP project funded by the European Commission). We consider only static and stable grasps performed by one hand. The goal is to extract the largest set of different grasps that were referenced in the literature and arrange them in a systematic way. The taxonomy provides a common terminology to define human hand configurations and is important in many domains such as human-computer interaction and tangible user interfaces where an understanding of the human is basis for a proper interface. Overall, 33 different grasp types are found and arranged into the GRASP taxonomy. Within the taxonomy, grasps are arranged according to 1) opposition type, 2) the virtual finger assignments, 3) type in terms of power, precision, or intermediate grasp, and 4) the position of the thumb. The resulting taxonomy incorporates all grasps found in the reviewed taxonomies that complied with the grasp definition. We also show that due to the nature of the classification, the 33 grasp types might be reduced to a set of 17 more general grasps if only the hand configuration is considered without the object shape/size.
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ISSN:2168-2291
2168-2305
2168-2305
DOI:10.1109/THMS.2015.2470657