De-An Huang, Wei-Chiu Ma, Minghuang Ma, Kris M. Kitani.
How Do We Use Our Hands? Discovering a Diverse Set of Common Grasps.
Conference on Computer Vision and Pattern Recognition (CVPR 2015).

Minjie Cai, Kris M. Kitani, Yoichi Sato.
A Scalable Approach for Understanding the Visual Structures of Hand Grasps.
International Conference on Robotics and Automation (ICRA 2015).