Title :
A graphical method for evaluating static characteristics of the human finger by force manipulability
Author :
Hara, Kei ; Yokogawa, Ryuichi ; Yokogawa, Akira
Author_Institution :
Dept. of Mech. Eng., Doshisha Univ., Kyoto, Japan
Abstract :
Static characteristics of the human finger are investigated using a mechanical planar model of the finger. They are represented by mapping a tendon force vector to a manipulating force vector of the fingertip. Force manipulability of the fingertip is defined as a force manipulability set obtained from the mapping under the condition that the norm of the tendon force vector is not more than a unit value. The shapes of the sets are geometrically obtained and graphically represented in the simulation results. The simulation visually demonstrates the static characteristics of the finger
Keywords :
biomechanics; digital simulation; force; muscle; physiological models; fingertip; force manipulability; graphical method; human finger; manipulating force vector; mechanical planar model; static characteristics; tendon force vector; Electronics packaging; Equations; Fingers; Humans; Jacobian matrices; Kinematics; Muscles; Tendons; Torque;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677383
