A grasping task is composed of three phases: pre-grasp phase, static grasp phase, and manipulation phase. The first step in recognizing a grasping task is identifying the grasp itself (within the static grasp phase).
We propose to identify the grasp by mapping the low-level hand configuration to increasingly more abstract grasp descriptions. To this end, we introduce a grasp representation called the contact web which is composed of a pattern of effective contact points between the hand and the object. We also propose a grasp taxonomy based on the contact web to systematically identify a grasp. Results from grasping experiments show that it is possible to distinguish between various types of grasps.