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Virtual human hand: grasps and fingertip deformation
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.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica |
dc.contributor.other | Universitat Politècnica de Catalunya. Doctorat en Recursos Naturals i Medi Ambient |
dc.date.accessioned | 2019-10-23T09:27:46Z |
dc.date.available | 2020-09-01T00:29:54Z |
dc.date.issued | 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.isbn | 978-3-030-20216-3 |
dc.identifier.uri | http://hdl.handle.net/2117/170698 |
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.format.extent | 9 p. |
dc.language.iso | eng |
dc.publisher | Springer |
dc.subject | Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica |
dc.subject.lcsh | Biomechanics |
dc.subject.lcsh | Hands -- Mechanical properties -- Computer simulation |
dc.subject.lcsh | Fingers -- Mechanical properties -- Computer simulation |
dc.subject.other | Human hand |
dc.subject.other | Grasping |
dc.subject.other | Force closure |
dc.subject.other | Fingertip force |
dc.title | Virtual human hand: grasps and fingertip deformation |
dc.type | Part of book or chapter of book |
dc.subject.lemac | Biomecànica |
dc.subject.lemac | Mans -- Propietats mecàniques -- Simulació per ordinador |
dc.subject.lemac | Dits -- Propietats mecàniques -- Simulació per ordinador |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.contributor.group | Universitat Politècnica de Catalunya. TECNOFAB - Grup de Recerca en Tecnologies de Fabricació |
dc.identifier.doi | 10.1007/978-3-030-20216-3_45 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://www.springer.com/series/11156 |
dc.rights.access | Open Access |
local.identifier.drac | 25883674 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO//DPI2013-40882-P/ES/PRENSION Y MANIPULACION DIESTRA, MOVIL Y COOPERATIVA/ |
local.citation.author | Peña-Pitarch, E.; A. Al Omar; Alcelay, J. I.; Vives, J. |
local.citation.pubplace | Berlín |
local.citation.publicationName | 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 |
local.citation.startingPage | 484 |
local.citation.endingPage | 492 |
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