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Related Experiment Video

Updated: May 15, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

Is power grasping contact continuous or discrete?

Todd C Pataky¹, Greg P Slota, Mark L Latash

¹Department of Bioengineering, Shinshu University, Ueda, Nagano, Japan.

Journal of Applied Biomechanics

|December 29, 2012

Summary

This study found 4-5 discrete contacts during cylindrical power grasps, rejecting previous bimodal/trimodal hypotheses. Findings suggest a revised hand grasp taxonomy based on contact type.

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Area of Science:

Biomechanics
Neuroscience
Human motor control

Background:

The central nervous system's control strategies during power grasp are debated.
Previous hypotheses suggested bimodal or trimodal force maxima for cylindrical power grasps.

Purpose of the Study:

To investigate the number of local force maxima during cylindrical power grasp.
To test existing hypotheses regarding force control in power grasping.
To propose modifications to current grasping taxonomy.

Main Methods:

Quantified local force maxima during pushing and pulling efforts in the plane perpendicular to a cylinder's axis.
Utilized high-resolution measurements (4.8°) with twelve participants grasping eight targets.
Defined contact number as local maxima exceeding background variance.

Main Results:

Observed a consistent 4-5 discrete contacts across all participants.
Contacts were localized to distal phalanges and metacarpal heads.
Rejected bimodal and trimodal force control hypotheses for cylindrical power grasps.

Conclusions:

Cylindrical power grasping involves 4-5 discrete contacts, not bimodal or trimodal patterns.
Current grasping taxonomy may need revision to differentiate continuous and discrete contact types.
Distinguishing power and precision grasps may rely on grasp manipulability rather than contact type.