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Classifying Human Hand Use and the Activities of Daily Living

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Book cover The Human Hand as an Inspiration for Robot Hand Development

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 95))

Abstract

Humans use their hands for a large variety of tasks during daily life. In this chapter, a discussion of human hand use is presented, including classification schemes for grasping and manipulation behaviors. First, a simple classification of the Activities of Daily Living (ADLs) is presented, providing some structure to a terminology that is typically used in an ad hoc manner. Next, an overview of work related to classifications and taxonomies of static grasp types is presented, followed by a study investigating the frequency of use of various grasp types by a housekeeper and machinist. Finally, a taxonomy classifying hand-based manipulation is presented, providing a hand-centric and motion-centric categorization of hand use. These descriptions and classifications of hand use should prove useful to researchers interested in robotic manipulation, prosthetics, rehabilitation, and biomechanics.

Manuscript received February 11, 2012. Portions of this work were previously published in [7-9]. This work was supported in part by the U.S. National Science Foundation under Grant IIS-0953856 and DARPA grant W91CRB-10-C-0141 (ARM-H).

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Acknowledgments

The author would like to thank Ian Bullock, Josh Zheng, Sara De La Rosa, and Kayla Matheus for their work on the studies presented in this paper, Lael Odhner, Raymond Ma, and Leif Jentoft for their helpful discussions related to the manipulation taxonomy, and to Kayla Matheus for helping to create the hand drawings used in the figures.

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Authors and Affiliations

  1. Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT 06511, USA

    Aaron M. Dollar

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  1. Aaron M. Dollar
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Correspondence to Aaron M. Dollar .

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Editors and Affiliations

  1. Oregon State University, Corvallis, Oregon, USA

    Ravi Balasubramanian

  2. Mechanical and Aerospace Engineering, Arizona State University, Tempe, Arizona, USA

    Veronica J. Santos

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Dollar, A.M. (2014). Classifying Human Hand Use and the Activities of Daily Living. In: Balasubramanian, R., Santos, V. (eds) The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-319-03017-3_10

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  • DOI: https://doi.org/10.1007/978-3-319-03017-3_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03016-6

  • Online ISBN: 978-3-319-03017-3

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