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Table 5 List of Movements

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

# # 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