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 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 fou...

• Type: Journal
• Year: 2016
• Where: THMS
• Authors: Thomas Feix, Javier Romero 0002, Heinz-Bodo Schmiedmayer, Aaron M. Dollar, Danica Kragic
• Keywords: THMS 2016