An investigation of grasp type and frequency in daily household and machine shop tasks

Abstract

This paper presents a study on the usage frequency of different grasp types throughout the daily functions of a professional house maid and a machinist. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities. This video was then analyzed, recording grasp type and associated time stamps, as well as information related to the task and object. The results show that nearly 80% of the time the house maid used just six grasps and the machinist used nine. This data, in conjunction with established grasp taxonomies, will enable a better understanding of how people utilize different grasps to accomplish tasks throughout the day, as well as inform the design of robotic and prosthetic hands.

Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review

“…According to Zheng et al, between 2,500 and 3,000 grasping motions of the unaffected dominant hand may be performed over an 8 h period during the work day [44]. A prosthetic device will typically undergo 120 grasping motions per day [5].…”

Measurement of finger pad forces and friction using finger nail mounted strain gauges

“…This taxonomy is not comprehensive, as it omits a number of common grasp types, for example gripping a pen or pencil, however this is still the most extensive and widely used taxonomy. It was initially informed by observation of activities of daily living, and then used to classify grip types in further studies such as those carried out by Lee et al [4] and Zheng et al [5]. Examination of the different grip studies showed that the most common grip types were the "Medium Wrap" and "Thumb-Index Finger" (see Figure 1 for detail of these) and the digits most often implemented in studies were the index finger and thumb.…”

Conceptual Design of 3 Independent Motor Actuation Transmission Systems for Low-Cost Anthropomorphic Prosthetic Hand

“…Basically, the grip movement can be divided into two types those are power and precision grip. Then based on the object that interacts, grip movement can be divided into six types of movement those are cylindrical, tip, hook, palmar, spherical Anggriyawan Putranto, Ilham Priadythama, Susy Susmartini, and Pringgo W. Laksono Conceptual Design of 3 Independent Motor Actuation Transmission Systems for Low-Cost Anthropomorphic Prosthetic Hand and lateral [6]. In cylindrical/spherical, all fingers and metacarpal grasping around a cylindrical/spherical object such as a bottle/tennis ball.…”