Title :
Classifying human manipulation behavior
Author :
Bullock, Ian M. ; Dollar, Aaron M.
Author_Institution :
Dept. of Mech. Eng. & Mater. Sci., Yale Univ., New Haven, CT, USA
fDate :
June 29 2011-July 1 2011
Abstract :
This paper presents a taxonomy for detailed classification of human and anthropomorphic manipulation behavior. This hand-centric, motion-centric taxonomy differentiates tasks based on criteria such as object contact, prehension, and the nature of object motion relative to a hand frame. A sub-classification of the most dexterous categories, within-hand manipulation, is also presented, based on the principal axis of object rotation or translation in the hand frame. Principles for categorizing complex, multi-faceted tasks are also presented, along with illustrative examples. We hope that the proposed taxonomy will both establish a standard language around human and anthropomorphic manipulation as well as enable improved understanding of the differences in hand use for a wide variety of behavior. Although designed for human and anthropomorphic hands, the taxonomy might easily be extended to a wide range of robot manipulators and end-effectors.
Keywords :
biomechanics; humanoid robots; manipulator dynamics; manipulator kinematics; anthropomorphic manipulation behavior; dexterous categories; end-effectors; hand frame; hand-centric taxonomy; human manipulation behavior classification; motion-centric taxonomy; object contact; object motion; object rotation; prehension; robot manipulators; subclassification; within-hand manipulation; Fingers; Force; Humans; Robots; Taxonomy; Turning; Writing; Hand; Humans; Motion; Movement;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2011.5975408