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Table 1 Summary of selected previous studies on kinematic hand grasp synergies

From: Kinematic synergies of hand grasps: a comprehensive study on a large publicly available dataset

Study

Subjects

Description of the task

Summary of the results

Santello et al. [4]

5

Grasp and use of 57 imagined objects

Two main synergies accounted for more than 80% of the overall variation.

Mason et al. [9]

5

5 reach-to-grasp movements with similar objects

First synergy accounted for more than 97% of the total variance.

Liu et al. [10]

10

Grasp six objects changing relative position of hand-objects

The first six PCs accounted for more than 80% of the total variance.

Jarrassé et al. [11]

10

Grasp postures of nine objects

Four postural synergies were found: the first and second PCs accounted for approximately 90% of the total variance.

Patel et al. [8]

10

Twenty-five grasping movements

Only 10 DoF were considered. First synergy accounted for approximately 54% of the variance.

Thakur et al. [6]

8

Haptic exploration over 50 objects Grasping postures with few objects

Seven synergies were extracted for the explanation of over 90% of the total variance.

Todorov et al. [12]

6

Seven tasks

Between two and four synergies (depending on the task) accounted for 85–95% of the overall variance.