Virtual human hand: grasps and fingertip deformation

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RECERCAT Home > Universitat Politècnica de Catalunya > Documents de recerca > View document

To access the full text documents, please follow this link: http://hdl.handle.net/2117/170698

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	2019-07-24
dc.identifier.citation	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.citation	978-3-030-20216-3
dc.identifier.citation	10.1007/978-3-030-20216-3_45
dc.identifier.uri	http://hdl.handle.net/2117/170698
dc.language.iso	eng
dc.publisher	Springer
dc.relation	http://www.springer.com/series/11156
dc.relation	info:eu-repo/grantAgreement/ES/1PE/DPI2013-40882-P
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
dc.subject	Biomechanics
dc.subject	Hands -- Mechanical properties -- Computer simulation
dc.subject	Fingers -- Mechanical properties -- Computer simulation
dc.subject	Human hand
dc.subject	Grasping
dc.subject	Force closure
dc.subject	Fingertip force
dc.subject	Biomecànica
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	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/bookPart
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

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