dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor
Universitat Politècnica de Catalunya. Doctorat en Recursos Naturals i Medi Ambient
dc.contributor
Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor
Universitat Politècnica de Catalunya. TECNOFAB - Grup de Recerca en Tecnologies de Fabricació
dc.contributor.author
Peña Pitarch, Esteve
dc.contributor.author
Al Omar Mesnaoui, Anas
dc.contributor.author
Alcelay Larrión, José Ignacio
dc.contributor.author
Vives i Costa, Jordi
dc.date.issued
2019-07-24
dc.identifier
Peña-Pitarch, E. [et al.]. Virtual human hand: grasps and fingertip deformation. A: "Advances in Additive Manufacturing, Modeling Systems and 3D Prototyping: proceedings of the AHFE 2019 International Conference on Additive Manufacturing, Modeling Systems and 3D Prototyping, July 24-28, 2019, Washington D.C., USA". Berlín: Springer, 2019, p. 484-492.
dc.identifier
978-3-030-20216-3
dc.identifier
https://hdl.handle.net/2117/170698
dc.identifier
10.1007/978-3-030-20216-3_45
dc.description.abstract
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.
dc.description.abstract
Peer Reviewed
dc.description.abstract
Postprint (published version)
dc.format
application/pdf
dc.relation
http://www.springer.com/series/11156
dc.relation
info:eu-repo/grantAgreement/MINECO//DPI2013-40882-P/ES/PRENSION Y MANIPULACION DIESTRA, MOVIL Y COOPERATIVA/
dc.subject
Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
dc.subject
Hands -- Mechanical properties -- Computer simulation
dc.subject
Fingers -- Mechanical properties -- Computer simulation
dc.subject
Fingertip force
dc.subject
Mans -- Propietats mecàniques -- Simulació per ordinador
dc.subject
Dits -- Propietats mecàniques -- Simulació per ordinador
dc.title
Virtual human hand: grasps and fingertip deformation
dc.type
Part of book or chapter of book
