Title :
Biomechanical analysis and control model of hand for object tumbling
Author :
Rezzoug, N. ; Gorce, P.
Author_Institution :
Lab. de Genie Mecanique Productique et Biomecanique, Univ. de Paris-Sud, Orsay, France
fDate :
6/21/1905 12:00:00 AM
Abstract :
In this paper, we propose biomechanical model of the hand control during a manipulation involving contacts with fingers and a support surface. This method allows to quantify the mechanical forces developed by the hand, data difficult to obtain experimentally. An experimental procedure is used to record the kinematics of the hand. The resulting data are exploited by our model to predict fingers forces and joint actuation
Keywords :
biomechanics; manipulator kinematics; biomechanical analysis; control model; fingers forces; joint actuation; kinematics; manipulation; mechanical forces; object tumbling; Fingers; Force control; Grasping; Kinematics; Linear programming; Motor drives; Optimal control; Performance evaluation; Predictive models; Stability;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.825347
