Show simple item record

dc.contributor.authorSancho-Bru, Joaquin L.
dc.contributor.authorMora Aguilar, Marta Covadonga
dc.contributor.authorLeón Pinzón, Beatriz Elena
dc.contributor.authorPérez González, Antonio
dc.contributor.authorIserte Vilar, José Luis
dc.contributor.authorMorales Escrig, Antonio
dc.date.accessioned2013-05-29T09:56:23Z
dc.date.available2013-05-29T09:56:23Z
dc.date.issued2012-05
dc.identifier.issn1476-8259
dc.identifier.issn1025-5842
dc.identifier.urihttp://hdl.handle.net/10234/65074
dc.description.abstractThe 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.ca_CA
dc.format.extent14 p.ca_CA
dc.format.mimetypeapplication/pdfca_CA
dc.language.isoengca_CA
dc.publisherTaylor & Francisca_CA
dc.relation.isPartOfComputer Methods in Biomechanics and Biomedical Engineering, 2012,ca_CA
dc.rights© Taylor & Francisca_CA
dc.subjectGraspca_CA
dc.subjectBiomechanical modelca_CA
dc.subjectFinger force estimationca_CA
dc.titleGrasp modelling with a biomechanical model of the handca_CA
dc.typeinfo:eu-repo/semantics/articleca_CA
dc.identifier.doihttp://dx.doi.org/10.1080/10255842.2012.682156
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessca_CA
dc.relation.publisherVersionhttp://www.tandfonline.com/doi/full/10.1080/10255842.2012.682156#.UaXOfODo3Jwca_CA


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record