Grasp Taxonomy in Action

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
1	Large Diameter		Power	Palm	Abd	2-5	Cylinder/Cuboid	Large Diameter
Description		Object has a large diameter and is roughly cylindrical. The fingertips are far from the thumb.
Example
Force Type		Hold	Hold		Hold		Grab&Press
Motion Dir		around y (hand)	-		x(45)y (hand)		-
Force Dir		-	-z (global)		-		z (global)
Flow		Free Motion/ Bound Force	Bound Force		Free Motion/ Half Bound Force		Bound Force
Annotation		Drink water	Hold a bottle		Throw paper		Grab cabbage
Example
Force Type		Squeeze	Twist
Motion Dir		-	around z axis (hand)
Force Dir		inward (hand)	inward (hand)
Flow		Bound Force	Half Bound Motion/Bound Force
Annotation		Squeeze an empty soda can	Squeeze towel to dry

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
2	Small Diameter		Power	Palm	Abd	2-5	Cylinder	Small Diameter
Description		Object has a small diameter and is roughly cylindrical. The fingertips overlap with the thumb.
Example
Force Type		Grab	Hold		Grab		Grab&Press
Motion Dir		-	-		around z axis (hand)		around x axis (hand)
Force Dir		inward (hand)	-z (global) & inward (hand)		inward (hand)		inward (hand)
Flow		Bound Force	Bound Force		Half Bound Motion/ Bound Force		Half Bound Motion/ Bound Force
Annotation		Grab the ladder	Hold the bags		Middle of the exercise		Press down to open the door
Example
Force Type		Put in	Lift		Swing		Grab
Motion Dir		z/ -z (global)	z/-z (global)		yz plane (object)		yz plane (object)
Force Dir		-	inward (hand)		inward (hand)		inward (hand)
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Bound Force		Half Bound Motion/ Bound Force		Half Bound Motion/ Bound Force
Annotation		Put in/take out the forks from dish washing machine	Lift up weight		Wave ice-hockey stick		Kayak
Example
Force Type		Lift	Grab&Pull		Break off		Grab
Motion Dir		-z (global)	around z (hand)		y/-y (hand)		z (global)
Force Dir		inward (hand)	inward (hand)		-		-
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Bound Force		Free Motion/ Bound Force		Bound Motion/ Bound Force
Annotation		Lift a pan	Open an oven door		Tear papers		Put on T-shirt

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
3	Medium Wrap		Power	Palm&Pad	Abd	2-5	Cylinder	Medium
Description		Object has a medium diameter and is roughly cylindrical. The fingertips are close to or just touching the thumb. Intermediate between grasp 1 and 3.
Example
Force Type		Grab&Pull	Grab&Press		Hold		Hold
Motion Dir		-z (hand)	-		-		around x (hand)
Force Dir		inward (hand)	z (global)		-z (global) & inward (hand)		inward (hand)
Flow		Half Bound Motion/ Bound Force	Bound Force		Bound Force		Half Bound Motion/ Bound Force
Annotation		Tug-of-war	Lean on walking stick		Hold a bunch of flowers		Pour washing liquid

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
4	Adducted Thumb		Power	Palm&Pad	Add	2-5	Cylinder/cuboid	Small Diameter
Description		Object has a small diameter and is roughly cylindrical. Similar to grasp 2 but with the thumb adducted rather than opposing (overlapping) the fingers.
Example
Force Type		Hold&Swing	Rub/Stroke		Hold&Swing		Hold&Swing
Motion Dir		around y axis (hand)	certain plane		y axis (hand)		certain plane
Force Dir		-	inward (hand)		inward (hand)		-
Flow		Half Bound Motion/Bound Force	Free Motion/ Bound Force		Free Motion/ Bound Force		Free Motion/ Bound Force
Annotation		Knock table with a wooden hammer	Stir fry dishes		Play badminton with racket		Water grass with hose
Example
Force Type		Lever	Grab		Grab		Grab&Pull
Motion Dir		around y (hand)	yz plane (object)		around x (hand)		z/ -z (global)
Force Dir		-	-		inward (hand)		inward (hand)
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Bound Force		Half Bound Motion/ Bound Force		Half Bound Motion/Bound Force
Annotation		Dig out flower from flower pot	Sweep floor with sweeper		Beat with egg beater in another gesture		Comb hair
Example
Force Type		Pull	Pull
Motion Dir		-x (hand)	y axis (object)
Force Dir		inward (hand)	-
Flow		Bound Motion/ Bound Force	Half Bound Motion/ Bound Force
Annotation		Shut the car door from inside car	Drag a curtain

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
5	Light Tool		Power/ Precision	Pad	Add	2-5	String	Very Thin
Description		Object is very thin, allowing fingers to wrap around it. Similar to grasp 4 except the object is held mostly in the fingers with little or no palm contact.
Example
Force Type		Lift/Lever	Pull		Grab
Motion Dir		around y (hand)	around z (global)		xy plane (object)
Force Dir		-	inward (hand)		-
Flow		Half Bound Motion/ Bound Force	Bound Motion/ Bound Force		Bound Motion/ Bound Force
Annotation		Open a beer bottle with an opener	Open a fridge door		Brush teeth

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
6	Prismatic 4 Finger		Precision	Pad	Abd	2-5	Cylinder	Small/ Medium Diameter
Description		A light pinch with the tips of all fingers and thumb.
Example
Force Type		Grab	Hold
Motion Dir		various directions	-
Force Dir		-	-z (global) & inward (hand)
Flow		Free Motion/ Half Bound Force	Bound Force
Annotation		Adjust a tie	Hold binoculars

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
7	Prismatic 3 Finger		Precision	Pad	Abd	2-4	Stick	Small Diameter
Description		A light pinch with the tips of the first three fingers and thumb.
Example
Force Type		Twist	Lift		Take out
Motion Dir		around x(30)y	-z (global)		y (object)
Force Dir		-	-z (global) & inward (hand)		inward (hand)
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Bound Force		Bound Motion/Bound Force
Annotation		Lock/Unlock a door	Lift a lid		Take letter out from envelope

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
8	Prismatic 2 Finger		Precision	Pad	Abd	2-3	Stick	Small Diameter
Description		A light pinch with the tips of the first two fingers and thumb.
Example
Force Type		Rub/Stroke
Motion Dir		yz plane (object)
Force Dir		-z (global) & inward (hand)
Flow		Half Bound Motion/ Bound Force
Annotation		Write in bamboo pen

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
9	Palmar Pinch		Power	Pad	Add	2	Thin chip	Thin
Description		A light pinch with the tips of the index finger and thumb.
Example
Force Type		Put in	Pull
Motion Dir		z (global)	x (object)
Force Dir		inward (hand)	inward (hand)
Flow		Bound Motion/ Bound Force	Bound Motion/ Bound Force
Annotation		Put a coin in a piggy bank	Zip a zipper

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
10	Power Disk		Power	Pad	Abd	2-5	Disk	Medium
Description		A power grasp used for disk-shaped objects.
Example
Force Type		Twist
Motion Dir		around y axis (hand)
Force Dir		z (global) & inward (hand)
Flow		Bound Motion/ Bound Force
Annotation		Twist open a lid

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
11	Power Sphere		Power	Palm&Pad	Abd	2-5	Cloth/Sphere	Medium
Description		A power grasp used for spherical objects. Similar to 1-3 and 10 but for a different shape of object.
Example
Force Type		Twist	Grab
Motion Dir		around y (hand)	-
Force Dir		-	inward (hand)
Flow		Bound Motion/ Bound Force	Bound Force
Annotation		Twist a door handle	Grab a tennis ball

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
12	Precision Disk		Precision	Pad	Abd	2-5	Disk/Square	Large
Description		A wide grasp used for large objects, where the object is held using the outermost joints of the fingers.
Example
Force Type		Hold	Hold
Motion Dir		-	-
Force Dir		-z (global)	-z (global)
Flow		Half Bound Force	Bound Force
Annotation		Hold a disk	Hold a cell phone

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
13	Precision Sphere		Precision	Pad	Abd	2-5	Sphere/Cube	Small
Description		A precision grasp for small, spherical objects. Like grasp 11 but using the tips of the fingers and no palm contact, and like grasp 6 but with a different shape of object.
Example
Force Type		Hold	Break off		Twist
Motion Dir		y/-y (hand)	around x (object)		around x(45)y
Force Dir		-	inward (hand)		-
Flow		Bound Motion/Bound Force	Half Bound Motion/ Bound Force		Bound Motion/ Bound Force
Annotation		Plug in a plug	Open a ring box		Twist light bulb

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
14	Tripod		Precision	Pad	Abd	2-3	Sphere	Small
Description		A precision grasp for small, spherical objects. The thumb, index, and middle fingers make contact at three different locations on the object, forming a tripod.
Example
Force Type		Twist	Twist
Motion Dir		around x(30)y (hand)	around z (global)
Force Dir		-	-
Flow		Bound Motion	Bound Motion/ Bound Force
Annotation		Twist button	Twist a bottle lid

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
15	Fixed Hook		Power	Pad	Ext	2-4	Cylinder	Small/ Medium Diameter
Description		The fingers enclose an object by hooking around it. Similar to grasp 5 except the thumb is not used.
Example
Force Type		Grab&Pull	Hold		Pull
Motion Dir		-	-		-x (hand)
Force Dir		-x (hand)	-z (global)		-x (hand)
Flow		Bound Force	Half Bound Force		Bound Motion/ Bound Force Force
Annotation		Hold passenger assist handle in car	Hold a light bag		Archery

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
16	Lateral		Power	Side	Add	2	Card piece	Thin
Description		A grasp between an adducted thumb and the side of the index finger useful for securely holding thing objects.
Example
Force Type		Pull	Hold		Twist		Twist
Motion Dir		-x (hand)	xy plane (hand)		around y (hand)		around x (hand)
Force Dir		-	-		-		-
Flow		Bound Motion/ Bound Force	Free Motion/ Half Bound Force		Bound Motion		Bound Motion
Annotation		Put on gloves	Give card to someone		Twist the key to start up the car		Twist the knob in car
Example
Force Type		Pull	Rub/Stroke		Hold		Hold
Motion Dir		xy plane (hand)	xy plane (hand)		z (global)/ -z (global)/ around x axis (hand)		around x (hand)
Force Dir		-	inward (hand)		-		-
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Bound Force		Free Motion/ Bound Force		Half Bound Motion/ Bound Force
Annotation		Drag toilet paper	Wipe glasses		Eat with spoon		Pour washing powder
Example
Force Type		Hold	Throw
Motion Dir		x (hand)	xy plane (hand)
Force Dir		inward (hand)	-
Flow		Bound Motion/ Bound Force	Half Bound Motion/ Bound Force
Annotation		Stick a key in the door lock	Throw out a chip

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
17	Index Finger Extension		Power	Palm&Pad	Add	2-5	Cylinder	Medium
Description		Variation on grasp 3 with index finger extended.
Example
Force Type		Grab	Grab		Hold
Motion Dir		around x (object)	around y (hand)		-z (global)
Force Dir		-	inward (hand)		-
Flow		Half Bound Motion/ Bound Force	Bound Motion /Free Force		Bound Motion/ Bound Force
Annotation		Beat cream with egg beater	Rotate a steering wheel along its path		Hang up towel

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
18	Extension Type		Power	Pad	Abd	2-5	Flat Piece	Long
Description		A flat object is held between the thumb and the sides/pads of the fingers. Similar to grasp 16 but the grip is looser and all five fingers touch the object.
Example
Force Type		Hold	Squeeze		Hold		Hold
Motion Dir		-	-		-		-
Force Dir		-z (global) & inward (hand)	inward (hand)		-z (global)		inward (hand)
Flow		Bound Force	Bound Force		Bound Force		Half Bound Force
Annotation		Hold a baking pan	Squeeze toothpaste		Hold a stack of bills		Hold papers
Example
Force Type		Hold&Put in	Rub/Stroke		Grab
Motion Dir		z (global)	x/-x (hand)		x/-x (hand)
Force Dir		inward (hand)	-		-
Flow		Bound Motion/ Bound Force	Half Bound Motion/ Bound Force		Bound Motion/ Bound Force
Annotation		Stick a plate into washing machine	Wash towel in a pinching way		Zip up the zipper

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
19	Distal Type		Power	Pad	Abd	2-4	Scissors	Small
Description		Thumb opposes other fingers, which are curved or mostly extended. Similar to grasp 1, but the object is gripped using the outermost joint of the fingers with no palm contact. Similar to grasp 22 except the thumb is far from the fingers.
Example
Force Type		Pinch	Hold		Grab&Press		Pull
Motion Dir		xz plane (hand)	-		-		around x (object)
Force Dir		-	inward (hand)		inward (hand)		inward (hand)
Flow		Bound Motion/ Bound Force	Bound Force		Bound Force		Bound Motion/ Bound Force
Annotation		Cut with scissors	Hold a bowl		Shuffle cards		Open a dish washer's door

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
20	Writing Tripod		Precision	Side	Abd	2-3	Stick	Small
Description		A writing grasp where the thumb and middle finger support a stick from the side and the index finger is placed on top.
Example
Force Type		Pinch
Motion Dir		-
Force Dir		inward (hand)
Flow		Bound Force
Annotation		Nip something

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
21	Tripod Variation		Intermediate	Side	Abd	2-4	Stick	Intermediate long
Description		A variation on the writing tripod where the ring finger is added so that two sticks can be grasped with one hand.
Example
Force Type		Grab
Motion Dir		-
Force Dir		yz plane (object)
Flow		Half Bound Motion/ Bound Force
Annotation		Beat eggs with chopsticks

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
22	Parallel Extension		Precision	Pad	Add	2-5	Plane	Medium
Description		Thumb opposes fingers, which are fully or mostly extended. Similar to grasp 18 except that thumb and fingers are parallel to each other.
Example
Force Type		Hold	Grab		Hold		Turn
Motion Dir		-	aroud z (hand)		-		-
Force Dir		inward (hand)	inward (hand)		-z (global) & inward (hand)		z (object)
Flow		Bound Force	Free Motion/ Bound Force		Bound Force		Bound Force
Annotation		Hold cards	Fold cloth		Hold a champagne cup		Flip over pages of a magazine
Example
Force Type		Break off	Pull
Motion Dir		around x axis (object)	around z (global)
Force Dir		inward (hand)	inward (hand)
Flow		Bound Motion/ Bound Force	Bound Motion/ Bound Force
Annotation		Open a purse	Open a drying machine's door

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
23	Adduction Grip		Intermediate	Side	Abd	2-3	Stick/Card	Small
Description		Object is held between the index and middle finger.
Example
Force Type		Hold	Hold
Motion Dir		-	-
Force Dir		inward (hand)	inward (hand)
Flow		Bound Force	Bound Force
Annotation		Hold a cigarette	Hold a card

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
24	Tip Pinch		Precision	Pad	Abd	2	Cylinder	Small Diameter
Description		Object is pinched between the tips of index finger and thumb. Similar to grasp 9 except using the tips of fingers.
Example
Force Type		Hold&Swing	Pinch		Pinch		Twist
Motion Dir		various directions	x (object)		various directions		around y (hand)
Force Dir		-	-		-		inward (hand)
Flow		Free Motion/ Bound Force	Bound Motion/ Bound Force		Half Bound Motion/ Bound Force		Bound Motion/ Bound Force
Annotation		Move baton	Get thread through eye of needle		Light up a candle		Twist a little button
Example
Force Type		Pinch	Extend
Motion Dir		-	-
Force Dir		-z (global) & inward (hand)	outward (object)
Flow		Bound Force	Bound Force
Annotation		Hold a ring	Press to split a clip

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
25	Lateral Tripod		Intermediate	Side	Abd	2-3	Stick/Sphere	Small
Description		A small object is pinched between the thumb and index and supported with the side of the middle finger
Example
Force Type		Pinch&Throw	Pinch
Motion Dir		x/ -x (object)	y/ -y (hand)
Force Dir		-	-
Flow		Half Bound Motion/ Bound Force	Bound Motion/ Bound Force
Annotation		Throw a dart	Varnish nail

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
26	Sphere 4 Finger		Power	Pad	Abd	2-4	Sphere	Medium
Description		A spherical object is grasped between the first four fingers. The pinky is either unused or contacting the object with its side. Similar to grasp 11 but without the pinky.
Example
Force Type		Grab
Motion Dir		various directions
Force Dir		-
Flow		Free Motion/ Bound Force
Annotation		Adjust driving mirror

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
27	Quadpod		Precision	Pad	Abd	2-4	Sphere	Small
Description		A round object is grasped with the tips of the first four fingers. Similar to grasp 13 but without the pinky.
Example
Force Type		Put in	Twist
Motion Dir		z (global)	around y (hand)
Force Dir		-	-
Flow		Free Motion/ Bound Force	Bound Motion/ Bound Force
Annotation		Put dishwasher detergent	Twist the button on washing machine

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
28	Sphere 3 Finger		Power	Pad	Abd	2-4	Sphere	Medium
Description		A spherical object is grasped between the first three fingers. The two ulnar fingers are either unused or contacting the object with its side. Similar to grasp 26 but without the ring finger.
Example
Force Type		Grab
Motion Dir		x/-x (hand)
Force Dir		-
Flow		Bound Motion/ Bound Force
Annotation		Shift gears

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
29	Stick		Intermediate	Pad&Side	Add	2	Stick	Small Diameter
Description		A thin object is held within the hand and pinched between the thumb and side of index finger. Similar to grasp 16 but with the object held inside the last three fingers as well.
Example
Force Type		Pinch	Twist		Grab&Pull
Motion Dir		-	around z (hand)		z (global)
Force Dir		inward (hand)	-		-
Flow		Half Bound Motion/ Bound Force	Bound Motion/ Bound Force		Half Bound Motion/ Bound Force
Annotation		Nip something	Adjust blinds		Tug on blinds cord

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
30	Palmar		Power	Palm	Add	2-5	Disk	Medium Diameter
Description		A grasp with the four fingers. Similar to grasp 15 except there is contact with the palm (object held more within hand).

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
31	Ring		Power	Pad	Abd	2	Cylinder	Medium diameter
Description		Grasp cylindrical object with thumb and index finger. Similar to grasp 1 except without the last three fingers.

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
32	Ventral		Intermediate	Side	Add	2-5	Stick	Small Diameter
Description		A thin object is held within the hand, between the thumb and side of middle finger. Similar to grasp 29 but using the side of the middle finger instead of the index finger.

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
33	Inferior Pincer		Precision	Pad	Abd	2	Sphere/Card Piece	Small
Description		Small object is grasped between the pads of the index finger and thumb. Similar to grasp 9 except the index finger is fully extended.
Example
Force Type		Hold
Motion Dir		x/-x (object)
Force Dir		-
Flow		Half Bound Motion/Bound Force
Annotation		Measure with a tape measure

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
34	Bow-Tying Grasp (new)		Precision	Pad&Side&Back	Abd	2-3	Line	Medium Long
Description		Thin object is pinched between thumb and side of middle finger, while the index finger contacts the object with its back side.

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
35	Two-Finger Extension (new)		Precision	Pad	Abd	2-3	Stick/Line	Thin
Description		An object is pinched between the thumb on one side and index and middle finger on the other. Similar to grasp 8 except the fingers are extended. Similar to grasp 25 except the middle finger is extended and on the same side as the index finger.
Example
Force Type		Hold	Take out		Lift		Pull
Motion Dir		z/-z(hand)	-z (global)		-z (global)		x/-x (object)
Force Dir		inward (hand)	-		-		-
Flow		Bound Force/ Bound Force	Bound Motion/ Bound Force		Half Bound Motion/ Bound Force		Bound Motion/ Bound Force
Annotation		Wear lipstick	Take out a card from a stack		Take out a tea bag from a cup		Use syringe
Example
Force Type		Hold	Pinch
Motion Dir		z (hand)	inward (hand)
Force Dir		-	-
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Bound Force
Annotation		Put on glasses	Use tweezers

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
36	Pinch with Index Extension (new)		Precision	Pad	Add	2-3	Stick	Thin
Description		Thin object is pinched between pads of thumb and middle finger, while the index finger extends to contact the object with its pad.
Example
Force Type		Push
Motion Dir		around z axis (hand)
Force Dir		-
Flow		Half Bound Motion
Annotation		Fold glasses

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
37	Index & Middle Extension (new)		Intermediate	Pad	Abd	2-5	Stick	Small Diameter
Description		A thin object is held within the hand and pinched between the thumb, index, and side of middle finger. Similar to grasp 29 except with a tripod hold instead of a pinch.
Example
Force Type		Hold
Motion Dir		-
Force Dir		-z (global) & inward (hand)
Flow		Bound Force
Annotation		Hold a fork

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
38	Grab and Lever Type (new)		Power	Pad	Abd	2-5	Ring Shape	Small Diameter
Description		The tips of the thumb and last three fingers secure a round object while the index finger manipulates it. A variation on grasp 12 or 13, but with the index finger positioned so that it can pull a part of the object.
Example
Force Type		Lever
Motion Dir		around z (hand)
Force Dir		-
Flow		Bound Motion/ Bound Force
Annotation		Open a soda bottle

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
39	Wrap Thumb Press (new)		Precision	Pad	Ext	2-5	Handle Shape	Small/ Medium
Description		The fingers wrap around a cylindrical object while the thumb is positioned on top to manipulate it. A variation on grasp 2, 5, or 30 except the thumb is in a different position.
Example
Force Type		Press	Press		Hold		Press
Motion Dir		-	-		-		-
Force Dir		-z (hand)	-z (hand)		-z (global)& inward (hand)		-z (hand)
Flow		Bound Force	Bound Force		Bound Force		Bound Force
Annotation		Press a hand brake	Press a lighter		Hold a beer glass cup		Press the button of a water boiler

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
40	Finger Adduction Thumb Press (new)		Precision	Pad&Side	Abd	2-3	Cylinder	Small Diameter
Description		An object is gripped between the sides of the index and middle fingers (similar to grasp 23) and the thumb is anchored on a separate surface.
Example
Force Type		Lift	Squeeze
Motion Dir		-	x axis (object)
Force Dir		around y (hand)	-
Flow		Bound Force	Bound Motion/ Bound Force
Annotation		Turn on the turn signal	Squeeze the syringe

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
41	Adducted Thumb Roll (new)		Power	Pad	Add	2-5	Wheel	Small Diameter
Description		Variation on grasp 4, where the thumb is positioned to manipulate part of the object.
Example
Force Type		Roll
Motion Dir		x/ -x (hand)
Force Dir		-
Flow		Half Bound Motion/Bound Force
Annotation		Adjust a wrench with thumb

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
42	Flat Hand Lever (new)		Intermediate	Pad	Abd	2-5	Solid Plane	Small/ Medium
Description		A flat object is grasped using the tips of the fingers and an extended thumb. Similar to grasp 12 but for a different-shaped object (the fingers rest on top of the object and the thumb rests on its side). Similar to grasp 22 except the thumb is not opposing the fingers and the fingers may be flexed.
Example
Force Type		Grab	Grab
Motion Dir		around z (hand)	-z (global)
Force Dir		-	-
Flow		Half Bound Motion/ Bound Force	Bound Motion/ Bound Force
Annotation		Put down the shade panels	Pull up a window

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
43	Two Finger Press and Grasp (new)		Precision	Pad	Abd	2-4	Cuboid	Medium
Description		A potentially gravity-dependent grasp where the object is gripped between the thumb, index, and middle finger, with the ring finger supporting with its side. Similar to grasp 28 except the fingers are not hooking around the object.
Example
Force Type		Press	Rub/Stroke		Grab&Rub/Stroke
Motion Dir		z axis (global)	xy plane (global)		xz plane (hand)
Force Dir		-	-		z (global)
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Half Bound Force		Free Motion/ Bound Force
Annotation		Click a mouse	Move a mouse		Wipe with a sponge

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
44	Opposite Thumb Press (new)		Power	Pad	Ext	2-5	Chip	Small Diameter
Description		Variation on grasp 4, where the thumb is positioned to manipulate part of the object.
Example
Force Type		Press
Motion Dir		-
Force Dir		x (hand)
Flow		Bound Force
Annotation		Open a binder

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
45	Open Hand Grasp Type (new)		Power	Pad	Ext	2-5	Sphere	Large Diameter
Description		A wide grasp similar to grasp 12.
Example
Force Type		Hold
Motion Dir		-
Force Dir		-z (global) & inward (hand)
Flow		Bound Force
Annotation		Grab a basketball

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
46	Index Finger Pull (new)		Intermediate	Pad	Abd	2	Line/Ring	Small Diameter
Description		A small hook grasp formed with the index finger.
Example
Force Type		Pull
Motion Dir		-x (hand)
Force Dir		-x (hand)
Flow		Bound Motion/ Bound Force
Annotation		Pull the fire extinguisher

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
47	Index Extension Roll (new)		Intermediate	Pad	Abd	2-5	Cylinder	Small Diameter
Description		An object is gripped between the last joint of the thumb and last three fingers, with the index finger extended to be on the top of the object. Similar to grasp 17 except the grasp is looser / more precise and the index finger is positioned over the end of the object.
Example
Force Type		Twist
Motion Dir		around x (object)
Force Dir		-
Flow		Half Bound Motion/ Bound Force
Annotation		Use screwdriver

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
48	Plier Grasp Variation (new)		Power	Pad&Side	Add	2-5	Forceps	Small
Description		A variation on grasp 19 but with the index finger sandwiched between the two ends of the object being grasped by the thumb on one end and the three last fingers on the other (index finger might not be contacting object).
Example
Force Type		Squeeze
Motion Dir		inward y (hand)
Force Dir		-
Flow		Bound Motion/ Bound Force
Annotation		Use pliers

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
49	Trigger Press (new)		Power	Pad	Abd	2-5	Stick	Small
Description		A variation on grasp 2 but with the index finger positioned to manipulate object.
Example
Force Type		Press	Press
Motion Dir		-	-
Force Dir		-x (hand)	-x (hand)
Flow		Bound Force	Bound Force
Annotation		Shoot with a gun	Use drill

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
50	Ring Adduction Grasp		Power	Pad&Side	Abd	2-5	Cylinder&Plane	Small& Medium Diameter
Description		The thumb and index finger form a ring on one side of the object, and the sides of the last three fingers secure the object on the other side. Similar to grasp 18 except index finger and thumb are placed differently and the object is held between the index and middle finger instead of the thumb and index finger.
Example
Force Type		Swing
Motion Dir		z (object)
Force Dir		-
Flow		Half Bound Motion/ Bound Force
Annotation		Play Ping Pong

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
51	Middle-over-Index Grasp (new)		Precision	Pad	Flx	2-3	Sphere	Small Diameter
Description		Grasp a small object using the pad of the middle finger and nail of the index finger.
Example
Force Type		Place
Motion Dir		-z (global)
Force Dir		-
Flow		Half Bound Motion/ Bound Force
Annotation		Put down a game piece

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
52	Wide Hand Index Poke (new)		Power	Pad	Abd	2-5	Cards	Medium
Description		A variation on grasp 19 but with the index finger free to manipulate the object.
Example
Force Type		Grab&Press
Motion Dir		-
Force Dir		inward (hand)
Flow		Bound Force
Annotation		Shuffle cards

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
53	Tip Hook Type (new)		Power	Pad	Ext	2-5	Groove	Medium
Description		A very light hook grasp using the tips of the four fingers. Similar to 15 except only the tips of the fingers are used.
Example
Force Type		Pull
Motion Dir		-
Force Dir		z (global)
Flow		Bound Force
Annotation		Open the sun roof of a car

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
54	Parallel Press (new)		Power	Pad	Abd	2-4	Cylinder	Medium
Description		A non-prehensile press using the fingers, which are extended and parallel to the thumb.
Example
Force Type		Press
Motion Dir		-
Force Dir		z (global)
Flow		Bound Force
Annotation		Press the dish washer bottle

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
55	Palm Press (new)		Power	Palm	Add	0	Plane	Medium
Description		A non-prehensile press using the palm of the hand.
Example
Force Type		Press	Press
Motion Dir		-	-
Force Dir		y (hand)	y (hand)
Flow		Bound Force	Bound Force
Annotation		Drain water from rice	Press the drying machine button

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
56	Index Press (new)		Precision	Pad	Flx	2	Button	Small
Description		A non-prehensile press using the index finger.
Example
Force Type		Hold	Rub/Stroke		Press		Roll
Motion Dir		-	-		-		x/-x (hand)
Force Dir		x (hand)	-z (hand)		x (hand)		-
Flow		Bound Force	Bound Force		Free Motion		Half Bound Motion/ Bound Force
Annotation		Press a screen button	Slide on a screen		Press a button in car		Roll a wheel type botton in car
Example
Force Type		Press
Motion Dir		-
Force Dir		z (global)
Flow		Bound Force
Annotation		Press a toaster button

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
57	Index Press & Grasp Type (new)		Intermediate	Pad&Palm	Abd	2-5	Cylinder	Medium
Description		Thumb and last three fingers wrap around object, with the index finger extended to be on the top of the object. Similar to grasp 17 except the index finger is positioned over the end of the object. Similar to grasp 47 except not using the tips of the fingers.
Example
Force Type		Press	Press
Motion Dir		-	-
Force Dir		z (global)	-x (hand)
Flow		Bound Force	Bound Force
Annotation		Press an bug extinguisher bottle	Press to open a car window

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
58	Index Press & Grasp Type Variation (new)		Intermediate	Pad&Palm	Abd	2-5	Cylinder	Medium
Description		A variation on grasp 58 but with the index finger positioned on the side of the object rather than the top.
Example
Force Type		Press
Motion Dir		-
Force Dir		inward
Flow		Bound Force
Annotation		Curl hair with a hair curler

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
59	Palm Press & Grasp Type (new)		Power	Palm&Pad	Add	2-5	Sphere	Medium
Description		Object is grasped within four fingers and pushed with the palm/heel of the hand. Similar to grasp 30 but with contact at the heel of the hand as well.
Example
Force Type		Press
Motion Dir		z/-z (global)
Force Dir		z (global)
Flow		Half Bound Motion/ Bound Force
Annotation		Make a dough

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
60	4 Finger Press Type (new)		Precision	Pad	Ext	2-5	Button	Small
Description		A non-prehensile press using the fingers, which are curved.
Example
Force Type		Press
Motion Dir		-
Force Dir		z (global)
Flow		Half Bound Force
Annotation		Type

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
61	4 Finger Press & Grasp Type (new)		Precision	Pad	Abd	2-5	Button	Small
Description		A grasp similar to grasp 19 but the fingers are positioned for individual pressing.
Example
Force Type		Press
Motion Dir		-
Force Dir		x/-x (object)
Flow		Half Bound Force
Annotation		Play saxophone

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
62	Thumb Press & Grasp Type (new)		Power	Pad	Abd	2-5	Button	Small
Description		A grasp similar to grasp 4 or 18 but the thumb is positioned for pressing.
Example
Force Type		Press	Press
Motion Dir		-	-
Force Dir		inward (hand)	inward (hand)
Flow		Free Half Bound Force	Bound Force
Annotation		Press remote controller button	Straighten hair with electric straightener

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
63	4 Finger Extend Type (new)		Intermediate	Back	Abd	2-5	Rubber Band	Small
Description		A grasp using the backs of all fingers to manipulate the object from within.
Example
Force Type		Extend
Motion Dir		-
Force Dir		outward (hand)
Flow		Bound Force
Annotation		Extend a rubber band

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
64	2 Finger Extend Type (new)		Intermediate	Back	Abd	2-3	Rubber Band	Small
Description		A grasp using the backs of the thumb and index and middle fingers to manipulate the object from within.
Example
Force Type		Extend
Motion Dir		-
Force Dir		outward (hand)
Flow		Bound Force
Annotation		Extend a rubber band

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
65	Index Lift Type (new)		Precision	Side	Flx	2	Button	Small
Description		A non-prehensile push with the side of the index finger. Similar to grasp 61 but using the side of the finger.
Example
Force Type		Lift
Motion Dir		-z (global)
Force Dir		-
Flow		Half Bound Motion/ Half Bound Force
Annotation		Lift up the switch

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
66	Flat Hand Type (new)		Intermediate	Palm&Pad	Add	2-5	Plane	Medium
Description		Non-prehensile manipulation performed using a completely flat hand (or prehensile manipulation using two flat hands).
Example
Force Type		Press	Press		Rub/Stroke		Rub/Stroke
Motion Dir		z (global)	xz plane (hand)		xz plane (hand)		xz plane (hand)
Force Dir		z (global)	z (global)		-		-
Flow		Free Motion/ Bound Force	Half Bound Motion/ Bound Force		Free Motion/ Free Force		Free Motion/ Free Force
Annotation		Pat dirt	Press cloth to move		Rub hands		Rub face with hands
Example
Force Type		Roll	Press
Motion Dir		x/-x (hand)	-
Force Dir		z (global)	-z (global)
Flow		Half Bound Motion/ Bound Force	Half Bound Force
Annotation		Roll stick to make flat dough	Open a box

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
67	Flat Hand Hook Type (new)		Power	Pad	Abd	2-5	Sphere	Medium
Description		A hook pose that uses both the thumb and fingers with fingers mostly extended. Similar to grasp 15 but using the thumb as well.
Example
Force Type		Scratch	Scratch		Grab&Press
Motion Dir		xz plane (hand)	xz plane (hand)		z (global)
Force Dir		-	-		-
Flow		Bound Force	Bound Force		Bound Force
Annotation		Wash Hair	Scratch head		Climb the rock

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
68	Grab Hook Type (new)		Power	Pad	Abd	2-5	Cylinder	Medium
Description		A hook grasp that uses both the thumb and fingers, with fingers highly flexed. Similar to grasp 3 but with little or no palm contact.
Example
Force Type		Pull
Motion Dir		-x(45)-z (hand)
Force Dir		-
Flow		Free Motion/ Half Bound Force
Annotation		Pull out seat belt

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
69	Lever Hook Type (new)		Power	Pad	Abd	2-5	Cylinder	Medium
Description		Thumb presses one end down while the fingers grasp another end with their tips.
Example
Force Type		Lever
Motion Dir		around z (hand)
Force Dir		-
Flow		Bound Motion
Annotation		Pick up card

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
70	Fist Type (new)		Power	Back	Flx	2-5	-	-
Description		Non-prehensile fist shape. Similar to grasp 2 but with no object.
Example
Force Type		Punch
Motion Dir		x (hand)
Force Dir		-
Flow		Free Motion/ Bound Force
Annotation		Punch someone

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
71	Flat Hand Cupping Type (new)		Intermediate	Palm	Add	2-5	Sphere/Plane	Medium
Description		A gravity-dependent grasp using a mostly flat / slightly cupped hand.
Example
Force Type		Hold	Throw		Hold		Hold
Motion Dir		-	y (hand)		-		-
Force Dir		-z (global)	-		-z (global)		-z (global)
Flow		Bound Force	Half Bound Motion/ Half Bound Force		Bound Force		Bound Force
Annotation		Hold dirt	Shoot a basketball		Hold a bowl		Hold an open book
Example
Force Type		Hold	Press
Motion Dir		-	z (global)
Force Dir		-z (global)	-
Flow		Bound Force	Half Bound Motion/ Half Bound Force
Annotation		Hold a big plate	Dribble a basketball

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
72	Flat Hand Cupping Variation (new)		Precision	Pad&Side	Abd	2-5	Cylinder	Small Diameter
Description		A variation on grasp 72 where part of the object is held between index and middle fingers.
Example
Force Type		Hold
Motion Dir		-
Force Dir		-z (global)
Flow		Bound Force
Annotation		Hold a wine cup

Number	Name	Picture	Type	Opp. Type	Thumb Pos.	VF2	Shape	Size
73	More Than One Object Type (new)		Power	Palm&Pad	Ext	2-5	Cylinder	Small/ Medium
Description		Hand contacts multiple objects (for example, holds tool in fingers while using a second object as support using the thumb)
Example
Force Type		Grab	Grab
Motion Dir		around z (hand)	around x (hand)
Force Dir		-	-
Flow		Half Bound Motion/ Bound Force	Half Bound Motion/ Bound Force
Annotation		Peel apple with a peeler	Peel apple with a different peeler