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2011 IEEE International Conference on Rehabilitation Robotics
This paper presents a taxonomy for detailed classification of human and anthropomorphic manipulation behavior. This hand-centric, motion-centric taxonomy differentiates tasks based on criteria such as object contact, prehension, and the nature of object motion relative to a hand frame. A sub-classification of the most dexterous categories, within-hand manipulation, is also presented, based on the principal axis of object rotation or translation in the hand frame. Principles for categorizingdoi:10.1109/icorr.2011.5975408 pmid:22275611 fatcat:sfkvw2yujbbw5j3ncdsgajz3eu