Grasp Frequency and Usage in Daily Household and Machine Shop Tasks
Grasp Frequency and Usage in Daily Household and Machine Shop Tasks
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DOI：
10.1109/toh.2013.6
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发表时间：
2013-07-01
影响因子：
2.9
通讯作者：
Dollar, Aaron M.
中科院分区：
文献类型：
--
作者：
Bullock, Ian M.;Zheng, Joshua Z.;Dollar, Aaron M.
在本文中，我们提出了一个研究结果，在日常工作活动中的四个主题：两个管家和两个机械师的灵活的人手使用。受试者戴着一个头戴式摄像头，记录他们在日常工作活动中的手部使用情况。对于每个受试者，分析了7.45小时的视频，记录了所使用的抓握类型及其持续时间。从这些数据中，我们提取了整体把握频率，持续时间分布为每个把握，把握之间的共同过渡。结果显示，在80%的研究时间里，管家只用了5次抓握，而机械师用了10次。对不同受试者的抓握模式进行了比较，并详细讨论了总体前10名抓握。这项研究的结果不仅可以深入了解人们在日常工作中如何使用双手，还可以为有效的机器人和假肢手的设计提供信息。
In this paper, we present results from a study of prehensile human hand use during the daily work activities of four subjects: two housekeepers and two machinists. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities in their typical place of work. For each subject, 7.45 hours of video was analyzed, recording the type of grasp being used and its duration. From this data, we extracted overall grasp frequency, duration distributions for each grasp, and common transitions between grasps. The results show that for 80 percent of the study duration the housekeepers used just five grasps and the machinists used 10. The grasping patterns for the different subjects were compared, and the overall top 10 grasps are discussed in detail. The results of this study not only lend insight into how people use their hands during daily tasks, but can also inform the design of effective robotic and prosthetic hands.