I found useful pictures of hand movement terminology.
These terms are essential to understand iCub’s hand and fingers DoF.

Wrist and Hand terms

Wrist and Hand terms

I have read about FARS model of control of reaching and grasping (Fagg, Arbib et al.)
Another article which copes with grasping models is Models for the control of grasping (Oztop and Kawato).

Then I’ve drawn basic diagram for object reaching and grasping which is inspired by the FARS model.

iCub Grasping Diagram

iCub Grasping Diagram

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136 Responses to Hand terminology & Grasping model

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