A quantitative taxonomy of human hand grasps

A 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. This paper presents to the best of our knowledge the first quantitative taxonomy of hand grasps based on biomedical data...