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


At some references an image is provided as well.
Number of References: 3

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. B. Kang & K. Ikeuchi (1991). `A framework for recognizing grasps'. Tech. rep., Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213.
G. Lister (1984).The hand: Diagnosis and surgical indications. Churchill Livingstone.