Grasp Number:12
Grasp Name:Precision Disk
Type: Precision
Opposition Type: Pad
Thumb Position: Abducted
Virtual Finger 1:3
Virtual Finger 2:9
Virtual Finger 3:1
Similar Grasps:
Prismatic 4 Finger
Precision Sphere


At some references an image is provided as well.
Number of References: 2

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.
J. M. Elliott & K. J. Connolly (1984). `A classification of manipulative hand movements.'. Developmental medicine and child neurology 26(3):283-296.