This paper presents a method based on virtual finger (VF) set to analyze the grasp function of bionic hand. In order to exactly represent different function units of human hand or bionic hand a more detailed classification of VF is proposed to divide VF into three types: VFFE, VFAA and VFPalm, of which a VF set describing hand grasp can be composed. The VF set cannot only describe the degree of freedom (DOF) distribution of human hand or bionic hand but also indicate which fingers take part in grasp and what motion types the fingers are. The VF sets of eight classic bionic hands and five basic human hand grasp postures are provided. The inclusion relationship between the VF set of a bionic hand and those of the basic human hand grasp postures is used to analyze the grasp function of a bionic hand. As examples the grasp functions of several classic bionic hands, such as i-LIMB Hand, HIT/DLR Hand, etc. are analyzed.
Classification of right-hand grasp movement based on EMOTIV Epoc+
