NDLI: Dynamic simulation of hand-forearm system

Content Provider	IEEE Xplore Digital Library
Author	Renault, M. Ouezdou, F.B.
Copyright Year	2001
Description	Author affiliation: Lab. de Robotique de Paris, Velizy, France (Renault, M.)
Abstract	We present an anthropomorphic model of a human hand, whose structural and functional properties permit the simulation of grasping tasks. The proposed model has 27-DOFs which are split into 23-DOFs for the hand, 2-DOFs for the flexion-extension and the abduction-adduction of the wrist ,and 2-DOFs for the pronation-supination and the flexion-extension of the forearm. This model allow one to simulate the grasp of an object with hand adapting to its shape by including the movements of fourth and fifth meta-carpals. The model, designed with ADAMS, is based on bio-mimetic approach which attempts to simulate the most realistic behavior during grasping tasks. In order to achieve dynamic simulations, different link masses and inertia parameters are chosen according to the human hand-forearm properties. A simulated grasping tasks is carried out using the kinematic structure, hand/grasped object contact law and position/torque control strategies. The simulation model takes into account the joint motion coupling laws and the contact distribution. Two grasping tasks are given to demonstrate the model capabilities.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	20
Ending Page	25
File Size	824749
Page Count	6
File Format	PDF
ISBN	0780372220
DOI	10.1109/ROMAN.2001.981871
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-09-18
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Grasping Joints Anthropomorphism Shape Biological system modeling Bones Muscles Tendons Pathology
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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