The GRASP Taxonomy of Human Grasp Types
The GRASP Taxonomy of Human Grasp Types
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DOI：
10.1109/thms.2015.2470657
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发表时间：
2016-02-01
影响因子：
3.6
通讯作者：
Kragic, Danica
中科院分区：
文献类型：
--
作者：
Feix, Thomas;Romero, Javier;Kragic, Danica
在本文中，我们分析和比较了现有的人类GRAPH分类法，并将它们综合成一个新的分类法(以欧盟委员会资助的GRAPH项目命名为GRAPH分类法)。我们只考虑用一只手进行静态和稳定的抓握。其目标是提取文献中引用的最大一组不同的掌握，并以系统的方式排列它们。分类提供了定义人手配置的通用术语，并且在许多领域非常重要，例如人机交互和有形用户界面，在这些领域，对人的理解是适当界面的基础。总体而言，发现了33种不同的抓握类型，并将其归入抓握分类。在分类中，抓握按1)相对类型，2)虚拟手指分配，3)力量、精度或中间抓取类型，以及4)拇指的位置来排列。所得到的分类结合了在符合GRAPH定义的经审查的分类中发现的所有GARCH。我们还表明，由于分类的性质，如果只考虑手的形状而不考虑物体的形状/大小，那么33种抓取类型可能被简化为17种更一般的抓取的集合。
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.