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This thesis investigates the application of Human Ability Requirements (HARs) to problem of two handed, whole handed interaction. The methodology is derived from the use of HARs in the world of human performance evaluation. This research is based on the need to understand how humans perform tasks in order to guide the understanding of the requirements of advanced interface technology development. The thesis presents the background for these two areas of research, taxonomies and whole hand interaction. It goes on to develop a taxonomy and classification of two handed, whole hand interaction for the real world and virtual environments. This taxonomy is used to analyze a large number of real world tasks, to further the development of a series of tests to externally validate the classification, and to analyze the tasks of the 91B Field Medic. This thesis further presents recommendations for how this methodology can be used to develop taxonomies for other areas of human interaction, for how this taxonomy can be used by researchers and practitioners, and areas of further research related to both areas.http://archive.org/details/twohandwholehand1094532746NANaval Postgraduate School author (civilian).Approved for public release; distribution is unlimited