Grasp modelling with a biomechanical model of the hand
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Otros documentos de la autoría: Sancho-Bru, Joaquin L.; Mora, Marta Covadonga; León Pinzón, Beatriz Elena; Pérez-González, Antonio; Iserte-Vilar, Jose L.; Morales, Antonio
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
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Título
Grasp modelling with a biomechanical model of the handAutoría
Fecha de publicación
2012-05Editor
Taylor & FrancisISSN
1476-8259; 1025-5842Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://www.tandfonline.com/doi/full/10.1080/10255842.2012.682156#.UaXOfODo3JwPalabras clave / Materias
Resumen
The use of a biomechanical model for human grasp modelling is presented. A previously validated biomechanical model of the hand has been used. The equilibrium of the grasped object was added to the model through the ... [+]
The use of a biomechanical model for human grasp modelling is presented. A previously validated biomechanical model of the hand has been used. The equilibrium of the grasped object was added to the model through the consideration of a soft contact model. A grasping posture generation algorithm was also incorporated into the model. All the geometry was represented using a spherical extension of polytopes (s-topes) for efficient collision detection. The model was used to simulate an experiment in which a subject was asked to grasp two cylinders of different diameters and weights. Different objective functions were checked to solve the indeterminate problem. The normal finger forces estimated by the model were compared to those experimentally measured. The popular objective function sum of the squared muscle stresses was shown not suitable for the grasping simulation, requiring at least being complemented by task-dependent grasp quality measures. [-]
Publicado en
Computer Methods in Biomechanics and Biomedical Engineering, 2012,Derechos de acceso
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