Portable markerless hand motion capture system for determining the grasps performed in activities of daily living

Abstract

Upper-limb prostheses are either too expensive for many consumers or have a greatly simplified choice of actions. This research aims to enable an improvement to the quality of life for recipients of these devices by providing an understanding of how we use our hands in modern everyday life. To achieve this a taxonomy of grasps used in activities of daily living has been created. A portable motion capture system was developed to collect data. Thirteen participants’ hand movements were recorded (totalling 62 hours and 10 minutes of data). From these data, 38 and 22 grasps were observed from the left and right hands, respectively. The portable system effectively captured natural hand motions, which formed an updated taxonomy of grasps.