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Title:
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Virtual human hand: grasps and fingertip deformation
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Author:
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Peña Pitarch, Esteve; Al Omar Mesnaoui, Anas; Alcelay Larrión, José Ignacio; Vives i Costa, Jordi
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica; Universitat Politècnica de Catalunya. Doctorat en Recursos Naturals i Medi Ambient; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics; Universitat Politècnica de Catalunya. TECNOFAB - Grup de Recerca en Tecnologies de Fabricació |
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Abstract:
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The objective of this paper is to simulate the human hand when grasping an object, considering the angles of the finger joints and the fingertip deformation. To study the grasp of an object used in activities of daily life (ADL) we focus on the equations given by grasps with force-closure. In this paper we address several topics and study grasping holistically, including power and precision grasping, the position of the finger and joint angles, fingertip deformation and fingertip forces (normal and frictional forces), and assess ho wall these features combine to perform a complete grasping action.
Conclusions: We describe the strategy used to solve the problem of calculating the force when grasping with five fingers; the same strategy is used in both power and precision grasps. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
-Biomechanics
-Hands -- Mechanical properties -- Computer simulation
-Fingers -- Mechanical properties -- Computer simulation
-Human hand
-Grasping
-Force closure
-Fingertip force
-Biomecànica
-Mans -- Propietats mecàniques -- Simulació per ordinador
-Dits -- Propietats mecàniques -- Simulació per ordinador |
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Rights:
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Document type:
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Article - Published version
Book Part |
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Published by:
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Springer
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