ArticleJournal of neuroengineering and rehabilitation2019
A quantitative taxonomy of human hand grasps.
Article in Journal of neuroengineering and rehabilitation, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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16 citing papers in PubMed.
- Finger Dexterity and Pencil Grasp Patterns as Correlates of Handwriting Proficiency: A School-Based Cross-Sectional Analytical Study.Indian pediatrics · 2026Article
- A Kinematic and EMG Dataset for Upper Limb and Hand Movement Analysis in Post-Stroke and Healthy Subjects.Scientific data · 2025Article
- Object-directed action representations are componentially built in parietal cortex.Proceedings of the National Academy of Sciences of the United States of America · 2025Article
- Multiple object handling: exploring strategies for cumulative grasping and transport using a single hand.Experimental brain research · 2025Article
- Vision-Based Grasping Method for Prosthetic Hands via Geometry and Symmetry Axis Recognition.Biomimetics (Basel, Switzerland) · 2025Article
- Quantification of finger grasps during activities of daily life using convolutional neural networks: A pilot study.Healthcare technology letters · 2024Article
- Phase-Dependent Visual and Sensorimotor Integration of Features for Grasp Computations before and after Effector Specification.The Journal of neuroscience : the official journal of the Society for Neuroscience · 2024Article
- Biometric analysis hand parameters in young adults for prosthetic hand and ergonomic product applications.Anatomy & cell biology · 2024Article
- Coming in handy: CeTI-Age - A comprehensive database of kinematic hand movements across the lifespan.Scientific data · 2023Article
- Bioinspiration and Biomimetic Art in Robotic Grippers.Micromachines · 2023Review
- Design of a Multi-Mode Mechanical Finger Based on Linkage and Tendon Fusion Transmission.Biomimetics (Basel, Switzerland) · 2023Article
- Characterization and Categorization of Various Human Lower Limb Movements Based on Kinematic Synergies.Frontiers in bioengineering and biotechnology · 2021Article
- Quantitative Investigation of Hand Grasp Functionality: Hand Joint Motion Correlation, Independence, and Grasping Behavior.Applied bionics and biomechanics · 2021Article
- Variability of Muscle Synergies in Hand Grasps: Analysis of Intra- and Inter-Session Data.Sensors (Basel, Switzerland) · 2020Article
- Kinematic synergies of hand grasps: a comprehensive study on a large publicly available dataset.Journal of neuroengineering and rehabilitation · 2019Article
- PaWFE: Fast Signal Feature Extraction Using Parallel Time Windows.Frontiers in neurorobotics · 2019Article
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Authors and funding
6 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundA proper modeling of human grasping and of hand movements is fundamental for robotics, prosthetics, physiology and rehabilitation. The taxonomies of hand grasps that have been proposed in scientific literature so far are based on qualitative analyses of the movements and thus they are usually not quantitatively justified.
methodsThis paper presents to the best of our knowledge the first quantitative taxonomy of hand grasps based on biomedical data measurements. The taxonomy is based on electromyography and kinematic data recorded from 40 healthy subjects performing 20 unique hand grasps. For each subject, a set of hierarchical trees are computed for several signal features. Afterwards, the trees are combined, first into modality-specific (i.e. muscular and kinematic) taxonomies of hand grasps and then into a general quantitative taxonomy of hand movements. The modality-specific taxonomies provide similar results despite describing different parameters of hand movements, one being muscular and the other kinematic.
resultsThe general taxonomy merges the kinematic and muscular description into a comprehensive hierarchical structure. The obtained results clarify what has been proposed in the literature so far and they partially confirm the qualitative parameters used to create previous taxonomies of hand grasps. According to the results, hand movements can be divided into five movement categories defined based on the overall grasp shape, finger positioning and muscular activation. Part of the results appears qualitatively in accordance with previous results describing kinematic hand grasping synergies.
conclusionsThe taxonomy of hand grasps proposed in this paper clarifies with quantitative measurements what has been proposed in the field on a qualitative basis, thus having a potential impact on several scientific fields.
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