Dynamical analysis of grasping with hand model for high quality product design

Product design is an important process in industry whereas it has been usually performed based on aesthetics and static strength rather than on dynamical features of the product in use, or more specifically, in grasping. In this paper, dynamical analysis of grasping is to be discussed. Because it is difficult to deal with an actual hand dynamically interacting with an object, a hand model in dynamical simulation environment is used for the analysis. The hand model moves corresponding to a hand wearing a data glove. In the simulation, contact force vectors are calculated for each contact point between the hand model and the object to be grasped.