The relationship between human grip types and force distribution pattern in grasping

In the analysis of human grasping motions, classifications of grasping patterns depend largely on personal definitions; no unified view has been reached. The measured quantities in grasping include the posture of the hand, and grasping force and its distribution. Grasping force and its distribution have been little considered. This paper first describes a Sensor Glove MKIII, which measures grasping force and its distribution in human grasping motion. Then the grasping force measured when same objects were grasped using this sensor is shown together with the distribution of the force. Furthermore the usefulness of this sensor was verified by applying the "Contact Web" technique to the grasping force and its distribution pattern and taking an example of the classification of grasping reported by Cutkosky (1989). It follows from these facts that the Sensor Glove MKIII may be useful for the analysis of grasping patterns.