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Grasp Frequency and Usage in Daily Household and Machine Shop Tasks
July-Sept. 2013 (vol. 6 no. 3)
pp. 296-308
Ian M. Bullock, Yale University, New Haven
Joshua Z. Zheng, Yale University, New Haven
Sara De La Rosa, Yale University, New Haven
Charlotte Guertler, Yale University, New Haven
Aaron M. Dollar, Yale University, New Haven
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.
Index Terms:
Humans,Taxonomy,Cameras,Robots,Grasping,Prosthetics,Thumb,activities of daily living,Human grasping,manipulation,robotic hands,prosthetics
Ian M. Bullock, Joshua Z. Zheng, Sara De La Rosa, Charlotte Guertler, Aaron M. Dollar, "Grasp Frequency and Usage in Daily Household and Machine Shop Tasks," IEEE Transactions on Haptics, vol. 6, no. 3, pp. 296-308, July-Sept. 2013, doi:10.1109/TOH.2013.6
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