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) |