Evaluation of human prehension using grasp quality measures
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Show full item recordcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
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INVESTIGACIONMetadata
Title
Evaluation of human prehension using grasp quality measuresAuthor (s)
Date
2012ISSN
1729-8806; 1729-8814Bibliographic citation
International Journal of Advanced Robotic Sy, (2012), Vol. 9, 112, p. 1-12Type
info:eu-repo/semantics/articleSubject
Abstract
One of the main features of the human hand is
its grasping ability. Robot grasping has been studied for
years and different quality measures have been
proposed to evaluate the stability and manipulability of
grasps. ... [+]
One of the main features of the human hand is
its grasping ability. Robot grasping has been studied for
years and different quality measures have been
proposed to evaluate the stability and manipulability of
grasps. Although the human hand is obviously more
complex than robot hands, the methods used in robotics
might be adopted to study the human grasp. The
purpose of this work is to propose a set of measures that
allow the evaluation of different aspects of the human
grasp. The most common robotic grasp quality
measures have been adapted to the evaluation of the
human hand and a new quality measure ‐ the fatigue
index ‐ is proposed in order to incorporate the
biomechanical aspect into the evaluation. The minimum
set of indices that allows the evaluation of the different
aspects of the grasp is obtained from the analysis of a
human prehension experiment. [-]
Is part of
International Journal of Advanced Robotic Sy, (2012), Vol. 9, núm. 112Rights
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