Skip to main content

Advertisement

Table 1 Grasped objects, used to constitute the CyberHand postures data-set

From: Principal components analysis based control of a multi-dof underactuated prosthetic hand

Object Shape Size [mm] Grasp Type
Paper roll Cylindrical Diam = 80; height = 100 Power grasp
Plastic cup Cylindrical Diam = 65; height = 90 Power grasp
Small plastic cylinder Cylindrical Diam = 36; height = 125 Power grasp
Medium plastic cylinder Cylindrical Diam = 41; height = 120 Power grasp
Big plastic cylinder Cylindrical Diam = 71; height = 120 Power grasp
Sponge Cylindrical Diam = 100; height = 36 Power grasp
Glue bottle Cylindrical Diam = 45; height = 130 Power grasp
Spray Cylindrical Diam = 50; height = 135 Power grasp
Twine roll 1 Cylindrical Diam = 106; height = 21 Power grasp
Twine roll 2 Cylindrical Diam = 40; height = 75 Power grasp
Tennis ball Spherical Diam = 65 Power & precision grasp
Plastic sphere 1 Spherical Diam = 40 Precision grasp
Plastic sphere 2 Spherical Diam = 49 Precision grasp
Plastic sphere 3 Spherical Diam = 59 Precision grasp
Fabric ball Spherical Diam = 70 Precision grasp
2 liters bottle Cylindrical Diam = 90 Power grasp
500 ml bottle Cylindrical Diam = 65 Power grasp
Boxes seal tape Empty cylinder Diam = 90; height = 50 Power & precision grasp
Felt tip pen Cylindrical Diam = 16; height = 130 Precision grasp
Plastic cube Cube L = 50 Precision grasp
CD Circular Diam = 120 Precision grasp
Electric adapter plug Cylindrical Diam = 41 Precision grasp
CDs pack Cylindrical Diam = 125; height = 70 Power grasp
Styrofoam sphere Spherical Diam = 90 Power & precision grasp
Cigarette pack Parallelepiped 20 × 55 × 85 Power & lateral grasp
Card box 1 Parallelepiped 103 × 58 × 45 Power grasp
Card box 2 Parallelepiped 103 × 45 × 40 Power grasp
Paperclips pack Parallelepiped 55 × 39 × 11 Lateral grasp
Business card Rectangular Height = 1 Lateral grasp (× 10)
  1. Objects used to collect the data-set from the CyberHand for calculating the PCs matrix. Lateral grasps have been repeated 10 times (in order to obtain the correct percentages values for power, precision and lateral grasps based on [48]), and some objects have been grasped using different hand configurations (i.e. grasping the seal tape with the fingertips rather than leaning it against the hand palm, or holding the sphere with the hand fingertips rather than performing a spherical grasp). The open-hand position has been included into the data-set (4 times).