Table 2.
Task (Type and No.) | Name | Grasp |
---|---|---|
Abstract Object* | ||
1 | Spherical (lightweight) | PP |
2 | Tripod (lightweight) | TP |
3 | Power (lightweight) | PP |
4 | Lateral (lightweight) | LP |
5 | Tip (lightweight) | TP |
6 | Extension (lightweight) | TP |
7 | Spherical (heavyweight) | PP |
8 | Tripod (heavyweight) | TP |
9 | Power (heavyweight) | PP |
10 | Lateral (heavyweight) | LP |
11 | Tip (heavyweight) | TP |
12 | Extension (heavyweight) | TP |
Activity of Daily Living | ||
13 | Pick up coins | TP |
14 | Button board | PP |
15 | Food cutting | LP |
16 | Page turning | LP |
17 | Jar lid | PP |
18 | Jug pouring | PP |
19 | Carton pouring | PP |
20 | Heavy object lift | PP |
21 | Light object lift | TP |
22 | Tray lift | LP |
23 | Rotate key | LP |
24 | Open/close zipper | LP |
25 | Rotate screw | PP |
26 | Door handle | LP |
Light- and heavyweight abstract objects were made of wood and metal, respectively.
LP = lateral prehension, PP = palmar prehension, TP = tip prehension.