Classifying human manipulation behavior

I. M. Bullock, A. M. Dollar
2011 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 categorizing
more » ... lex, multi-faceted tasks are also presented, along with illustrative examples. We hope that the proposed taxonomy will both establish a standard language around human and anthropomorphic manipulation as well as enable improved understanding of the differences in hand use for a wide variety of behavior. Although designed for human and anthropomorphic hands, the taxonomy might easily be extended to a wide range of robot manipulators and end-effectors. I.
doi:10.1109/icorr.2011.5975408 pmid:22275611 fatcat:sfkvw2yujbbw5j3ncdsgajz3eu