Understanding human hand movement functionality is fundamental in neuroscience, robotics, prosthetics, and rehabilitation. People are used to investigate the movement functionality separately from qualitative or quantitative perspectives. However, it is still limited to provide an integral framework from both perspectives with 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 the behavioral experiment to quantitatively understand the way of hand grasp. In qualitative analysis, two facts are explicitly proposed: 1) arm/wrist make a vital contribution to hand movement functionality; 2) the relative position (the relative position in this paper is defined as the distance between the center of human wrist and object center of gravity) is a general influence factor significantly impacting human prehension. In quantitative analysis, the significant influence of three influence factors contained object shape, size and relative position, is quantitatively demonstrated. As 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.

中文翻译：

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手部运动功能的系统分析：手部抓握行为的定性分类和定量研究

了解人类手部运动的功能是神经科学，机器人技术，假肢和康复的基础。人们习惯于从定性或定量的角度来研究运动功能。但是，从逻辑和逻辑角度从两个角度提供一个完整的框架仍然受到限制。在本文中，我们提供了一个系统的框架，以定性地对手部运动功能进行分类，建立了手法分类法，以探索人类手法的一般影响因素，并据此设计行为实验，以定量地了解手部抓握的方式。在定性分析中，明确提出了两个事实：1）手臂/手腕对手的运动功能起着至关重要的作用；2）相对位置（本文中的相对位置定义为人的手腕中心与物体重心之间的距离）是显着影响人的理解力的一般影响因素。在定量分析中，定量证明了三个影响因素对物体形状，大小和相对位置的显着影响。在同时考虑相对位置，对象形状和大小的影响时，此处介绍的综合分类法和行为实验结果应更具代表性和完整性，以理解人类的抓握功能。这里介绍的系统框架是通用的，适用于其他身体部位，例如手腕，手臂等。最后，阐明了许多潜在的应用程序和局限性。