Human Grasp Frequency and Usage

Understanding how humans utilize their hands has long been a topic of interest. Initially, this interest was primarily related to applications such as biomechanics, hand surgery, and rehabilitation. With the advent of robotics into manufacturing tasks, the study of hand function received new life as researchers began to investigate human hands in order to shed light on the design and control of robotic end effectors. Our work investigates grasp type and frequency for common classes of manipulation tasks. In particular, we look at the hand use behavior of a full-time house maid and a professional machinist-two areas of interest for robotic assistants