Virtual human hand: grasps and fingertip deformation

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 p...

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Detalles Bibliográficos
Autores: Peña Pitarch, Esteve|||0000-0001-5986-5728, Al Omar Mesnaoui, Anas|||0000-0002-9812-0769, Alcelay Larrión, José Ignacio|||0000-0001-9527-8918, Vives i Costa, Jordi|||0000-0003-3854-775X
Tipo de recurso: capítulo de libro
Fecha de publicación:2019
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/170698
Acceso en línea:https://hdl.handle.net/2117/170698
https://dx.doi.org/10.1007/978-3-030-20216-3_45
Access Level:acceso abierto
Palabra clave:Biomechanics
Hands -- Mechanical properties -- Computer simulation
Fingers -- Mechanical properties -- Computer simulation
Human hand
Grasping
Force closure
Fingertip force
Biomecànica
Mans -- Propietats mecàniques -- Simulació per ordinador
Dits -- Propietats mecàniques -- Simulació per ordinador
Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
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oai_identifier_str oai:upcommons.upc.edu:2117/170698
network_acronym_str ES
network_name_str España
repository_id_str
spelling Virtual human hand: grasps and fingertip deformationPeña Pitarch, Esteve|||0000-0001-5986-5728Al Omar Mesnaoui, Anas|||0000-0002-9812-0769Alcelay Larrión, José Ignacio|||0000-0001-9527-8918Vives i Costa, Jordi|||0000-0003-3854-775XBiomechanicsHands -- Mechanical properties -- Computer simulationFingers -- Mechanical properties -- Computer simulationHuman handGraspingForce closureFingertip forceBiomecànicaMans -- Propietats mecàniques -- Simulació per ordinadorDits -- Propietats mecàniques -- Simulació per ordinadorÀrees temàtiques de la UPC::Enginyeria biomèdica::BiomecànicaThe 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.Peer ReviewedSpringer20192019-07-2420192019-10-23book parthttp://purl.org/coar/resource_type/c_3248VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/bookPartapplication/pdfhttps://hdl.handle.net/2117/170698https://dx.doi.org/10.1007/978-3-030-20216-3_45reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengMinisterio de Economía y Competitividad http://doi.org/10.13039/501100003329 DPI2013-40882-P PRENSION Y MANIPULACION DIESTRA, MOVIL Y COOPERATIVAopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1706982026-05-27T15:37:01Z
dc.title.none.fl_str_mv Virtual human hand: grasps and fingertip deformation
title Virtual human hand: grasps and fingertip deformation
spellingShingle Virtual human hand: grasps and fingertip deformation
Peña Pitarch, Esteve|||0000-0001-5986-5728
Biomechanics
Hands -- Mechanical properties -- Computer simulation
Fingers -- Mechanical properties -- Computer simulation
Human hand
Grasping
Force closure
Fingertip force
Biomecànica
Mans -- Propietats mecàniques -- Simulació per ordinador
Dits -- Propietats mecàniques -- Simulació per ordinador
Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
title_short Virtual human hand: grasps and fingertip deformation
title_full Virtual human hand: grasps and fingertip deformation
title_fullStr Virtual human hand: grasps and fingertip deformation
title_full_unstemmed Virtual human hand: grasps and fingertip deformation
title_sort Virtual human hand: grasps and fingertip deformation
dc.creator.none.fl_str_mv Peña Pitarch, Esteve|||0000-0001-5986-5728
Al Omar Mesnaoui, Anas|||0000-0002-9812-0769
Alcelay Larrión, José Ignacio|||0000-0001-9527-8918
Vives i Costa, Jordi|||0000-0003-3854-775X
author Peña Pitarch, Esteve|||0000-0001-5986-5728
author_facet Peña Pitarch, Esteve|||0000-0001-5986-5728
Al Omar Mesnaoui, Anas|||0000-0002-9812-0769
Alcelay Larrión, José Ignacio|||0000-0001-9527-8918
Vives i Costa, Jordi|||0000-0003-3854-775X
author_role author
author2 Al Omar Mesnaoui, Anas|||0000-0002-9812-0769
Alcelay Larrión, José Ignacio|||0000-0001-9527-8918
Vives i Costa, Jordi|||0000-0003-3854-775X
author2_role author
author
author
dc.subject.none.fl_str_mv Biomechanics
Hands -- Mechanical properties -- Computer simulation
Fingers -- Mechanical properties -- Computer simulation
Human hand
Grasping
Force closure
Fingertip force
Biomecànica
Mans -- Propietats mecàniques -- Simulació per ordinador
Dits -- Propietats mecàniques -- Simulació per ordinador
Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
topic Biomechanics
Hands -- Mechanical properties -- Computer simulation
Fingers -- Mechanical properties -- Computer simulation
Human hand
Grasping
Force closure
Fingertip force
Biomecànica
Mans -- Propietats mecàniques -- Simulació per ordinador
Dits -- Propietats mecàniques -- Simulació per ordinador
Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
description 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.
publishDate 2019
dc.date.none.fl_str_mv 2019
2019-07-24
2019
2019-10-23
dc.type.none.fl_str_mv book part
http://purl.org/coar/resource_type/c_3248
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/bookPart
format bookPart
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/170698
https://dx.doi.org/10.1007/978-3-030-20216-3_45
url https://hdl.handle.net/2117/170698
https://dx.doi.org/10.1007/978-3-030-20216-3_45
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Economía y Competitividad http://doi.org/10.13039/501100003329 DPI2013-40882-P PRENSION Y MANIPULACION DIESTRA, MOVIL Y COOPERATIVA
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.301603

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