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Table 5 List of Movements

From: Exploiting upper-limb functional principal components for human-like motion generation of anthropomorphic robots

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# Cut

Class

Description

1

 

Int

Ok gesture (lifting hand from the table)

2

 

Int

Thumb down (lifting hand from the table)

3

 

Int

Exultation (extending the arm up in the air with closed fist)

4

 

Int

Hitchhiking (extending the arm along the frontal plane, laterally, parallel to the floor, with extended elbow, closed fist, extended thumb)

5

 

Int

Block out sun from own face (touching the face with the palm and covering the eyes)

6

 

Int

Greet (with open hand, moving wrist) (3 times)

7

 

Int

Military salute (with lifted elbow)

8

 

Int

Stop gesture (extending the arm along the sagittal plane, parallel to the floor, open palm)

9

 

Int

Pointing (with index finger) of something straight ahead (with outstretched arm)

10

 

Int

Silence gesture (bringing the index finger, with the remainder of the hand closed, on the lips)

11

2

Tr

Reach and grasp a small suitcase from the handle, lift it and place it on the floor (close to own chair, along own sagittal plane)

12

3

Tr

Reach and grasp a glass, drink for 3 seconds and place it in the initial position

13

4

Tr

Reach and grasp a phone receiver, carry it to own ear for 3 seconds and place it in the initial position

14

6

Tr

Reach and grasp a book (placed overhead on a shelf), put in on the table and open it (from right side to left side)

15

8

Tr

Reach and grasp a small cup from the handle (2 fingers + thumb), drink for 3 seconds and place it in the initial position

16

11

Tr

Reach and grasp an apple, mimic biting and put it in the initial position

17

12,13

Tr

Reach and grasp a hat from its top and place it on own head

18

12

Tr

Reach and grasp a cup from its top, lift it and put it on the left side of the table

19

15

Tr

Receive a tray (straight ahead, with open hand) and put it in the middle of the table

20

16

Tr

Reach and grasp a key in a lock (vertical axis), extract it from the lock and put it on the left side of the table

21

1

T-M

Reach and grasp a bottle, pour water into a glass and put the bottle in the initial position

22

2,3,4

T-M

Reach and grasp a tennis racket (placed along own frontal plane) and play a forehand (the subject is still seated)

23

5

T-M

Reach and grasp a toothbrush, brush teeth (horizontal axis, one time left-right) and put it inside a holder (on the right side of the table)

24

6

T-M

Reach and grasp a laptop, open it (without changing its position) (4 fingers + thumb)

25

7,8,9

T-M

Reach and grasp a pen (placed on the right side of the table) and draw a vertical line on the table (from the top to the bottom)

26

7

T-M

Reach and grasp a pencil (placed along own frontal plane) (3 fingers + thumb) and put it inside a squared pencil holder (placed on the left side of the table)

27

9

T-M

Reach and grasp a tea bag in a cup (1 finger + thumb), remove it from the cup and place it on the table on the right side of the table

28

10

T-M

Reach and grasp a doorknob, turn it clockwise and counterclockwise and open the door

29

13

T-M

Reach and grasp a tennis ball (with fingertips) and place it in a basket on the floor (right)

30

14

T-M

Reach and grasp a cap (2 fingers + thumb) of a bottle (held by left hand), unscrew it and place it overhead on a shelf