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dc.contributor.authorPeña Pitarch, Esteve
dc.contributor.authorAl Omar Mesnaoui, Anas
dc.contributor.authorAlcelay Larrión, José Ignacio
dc.contributor.authorVives i Costa, Jordi
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor.otherUniversitat Politècnica de Catalunya. Doctorat en Recursos Naturals i Medi Ambient
dc.date.accessioned2019-10-23T09:27:46Z
dc.date.available2020-09-01T00:29:54Z
dc.date.issued2019-07-24
dc.identifier.citationPeña-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.isbn978-3-030-20216-3
dc.identifier.urihttp://hdl.handle.net/2117/170698
dc.description.abstractThe 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.format.extent9 p.
dc.language.isoeng
dc.publisherSpringer
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
dc.subject.lcshBiomechanics
dc.subject.lcshHands -- Mechanical properties -- Computer simulation
dc.subject.lcshFingers -- Mechanical properties -- Computer simulation
dc.subject.otherHuman hand
dc.subject.otherGrasping
dc.subject.otherForce closure
dc.subject.otherFingertip force
dc.titleVirtual human hand: grasps and fingertip deformation
dc.typePart of book or chapter of book
dc.subject.lemacBiomecànica
dc.subject.lemacMans -- Propietats mecàniques -- Simulació per ordinador
dc.subject.lemacDits -- Propietats mecàniques -- Simulació per ordinador
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.groupUniversitat Politècnica de Catalunya. TECNOFAB - Grup de Recerca en Tecnologies de Fabricació
dc.identifier.doi10.1007/978-3-030-20216-3_45
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://www.springer.com/series/11156
dc.rights.accessOpen Access
local.identifier.drac25883674
dc.description.versionPostprint (published version)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/1PE/DPI2013-40882-P
local.citation.authorPeña-Pitarch, E.; A. Al Omar; Alcelay, J. I.; Vives, J.
local.citation.pubplaceBerlín
local.citation.publicationNameAdvances 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
local.citation.startingPage484
local.citation.endingPage492


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