The most common grasp MOTIONS

For our investment into Figure AI. Please note these are from our own independent research into the most common grasp motions and Figure’s team has the exact grasp motions their robots are able to execute.

There are many different types of grasping movements, but here are 18 of the most common grasp types:

  1. Power grasp: The power grasp involves grasping an object with the entire hand, using all fingers and the palm.

  2. Precision pinch: The precision pinch involves using the tips of the thumb and one or more fingers to grasp an object.

  3. Tripod pinch: The tripod pinch involves using the tips of the thumb, index finger, and middle finger to grasp an object.

  4. Lateral pinch: The lateral pinch involves using the side of the index finger and the tip of the thumb to grasp an object.

  5. Tip pinch: The tip pinch involves using the tips of the thumb and index finger to grasp an object.

  6. Key pinch: The key pinch involves using the tips of the thumb and the side of the index finger to grasp an object.

  7. Palmar pinch: The palmar pinch involves using the palm and fingers to grasp an object.

  8. Hook grip: The hook grip involves bending the fingers to create a hook-like shape to grasp an object.

  9. Cylindrical grasp: The cylindrical grasp involves grasping an object with the entire hand, using all fingers and the palm, to hold a cylindrical object.

  10. Spherical grasp: The spherical grasp involves grasping an object with the entire hand, using all fingers and the palm, to hold a spherical object.

  11. Disc grasp: The disc grasp involves grasping an object with the entire hand, using all fingers and the palm, to hold a flat circular object.

  12. Lateral prehension: The lateral prehension involves grasping an object between the thumb and the side of the index finger.

  13. Palmar prehension: The palmar prehension involves grasping an object with the palm and fingers.

  14. Tripod prehension: The tripod prehension involves grasping an object between the tips of the thumb, index finger, and middle finger.

  15. Quadrupod prehension: The quadrupod prehension involves grasping an object between the tips of the thumb, index finger, middle finger, and ring finger.

  16. Hook prehension: The hook prehension involves grasping an object with a hook-like grip created by the fingers.

  17. Lateral pinch prehension: The lateral pinch prehension involves grasping an object between the side of the index finger and the tip of the thumb.

  18. Three-jaw chuck grasp: The three-jaw chuck grasp involves grasping an object between the tips of the thumb, index finger, and middle finger, creating a tripod-like grip with the fingers.