| Summary: | Understanding human hand movement functionality is fundamental in neuroscience, robotics, prosthetics, and rehabilitation. People are used to investigate movement functionality separately from qualitative or quantitative perspectives. However, it is still limited to providing an integral framework from both perspectives in a logical manner. In this paper, we provide a systematic framework to qualitatively classify hand movement functionality, build prehensile taxonomy to explore the general influence factors of human prehension, and accordingly design a behavioral experiment to quantitatively understand the hand grasp. In qualitative analysis, two facts are explicitly proposed: (1) the arm and wrist make a vital contribution to hand movement functionality; (2) the relative position (relative position in this paper is defined as the distance between the center of the human wrist and the object center of gravity) is a general influence factor significantly impacting human prehension. In quantitative analysis, the significant influence of three factors, object shape, size, and relative position, is quantitatively demonstrated. Simultaneously considering the impact of relative position, object shape, and size, the prehensile taxonomy and behavioral experiment results presented here should be more representative and complete to understand human grasp functionality. The systematic framework presented here is general and applicable to other body parts, such as wrist, arm, etc. Finally, many potential applications and the limitations are clarified.
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