Study and modeling of precision grasping
with hand, oriented to the design of hand held tools.
Abstract:
This project pursued the development
of a biomechanical model that allows predictive analysis of the
design of hand tools. We studied in a first phase the different
types of precision grip and intermediate precision-power grip,
performing a series of experiments aimed to studying the
relationship between the force exerted on the grip and the pressure
distribution and deformations appearing on the surface of the
fingers and palms. This experimental work was initially focused on
simple object grasping to obtain maximum grip pressure and friction
forces attainable, as well as sensations of pain or discomfort
reported by the user. Subsequently the study was extended to
grasping postures characteristics for different tools. From the data
obtained the data were used to adjust the model for force grasping.
The final model was developed in Matlab with graphical interface in
ProEngineer. It calculates the maximum grip force from the
definition of the grip posture and areas and hand-tool contact. It
also allows calculation of muscular activities necessary to produce
an external force with the hand in a given position.
Date:
Oct. 1997 - Oct. 1999
PI UJI:
Antonio Pérez González
Partners:
UJI
Funding:
Fundació Bancaixa.
Universitat Jaume I
(P1A97-06 )
