Grasp Number:11
Grasp Name:Power Sphere
Type: Power
Opposition Type: Palm
Thumb Position: Abducted
Virtual Finger 1:2
Virtual Finger 2:9
Virtual Finger 3:1
Similar Grasps:
Large Diameter
Small Diameter
Medium Wrap
Power Disk


At some references an image is provided as well.
Number of References: 8

Made by Javier Romero (
M. R. Cutkosky (1989). `On grasp choice, grasp models, and the design of hands for manufacturing tasks'. Robotics and Automation, IEEE Transactions on5(3):269-279.
S. J. Edwards, et al. (2002). Developmental and Functional Hand Grasps. Slack Incorporated, 1 edn.
C. E. Exner (2001). `Development of hand skills'. In C. J. Smith (ed.),Occupational therapy for children, pp. 289-328.
S. B. Kang & K. Ikeuchi (1991). `A framework for recognizing grasps'. Tech. rep., Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213.
I. A. Kapandji (2006). Funktionelle Anatomie der Gelenke. Schematisierte und kommentierte Zeichnungen zur menschlichen Biomechanik. Thieme Georg Verlag.
K. H. Kroemer (1986). `Coupling the hand with the handle: an improved notation of touch, grip, and grasp.'. Human factors28(3):337-339.
C. M. Light, et al. (2002). `Establishing a standardized clinical assessment tool of pathologic and prosthetic hand function: normative data, reliability, and validity.'. Archives of physical medicine and rehabilitation83(6):776- 783.
C. L. Taylor & R. J. Schwarz (1955). `The anatomy and mechanics of the human hand.'. Artificial limbs2(2):22- 35.