The Modelling of a Hand with 16 Degrees of Freedom Integrating Surfacic Elastic Contacts
This paper presents a comprehensive study of the power grasp which takes into account the elasticity of human fingers and as far as possible, real life conditions of contact. Therefore we modelize the hand in order to have a distribution of forces as well as a mechanical behaviour similar to that of the human hand. First, an experimental study has allowed us to know the characteristics and the nature of an “object — human finger” contact. Then, this contact is modelized in the form of relations between the resultants of applied forces and the relative displacements of the finger. Then, with the aim of modelizing the hand so that it can reproduce the greatest possible number of movements similar to the human hand, the hand consists of a 3D polyarticulated mechanical system with sixteen degrees of freedom that presents a kinematics similar to that of the human hand. Finally, we present the formalism which allows us to determine the forces generated at contacts in order to ensure a stable grasp. The resolution of the former is presented in the form of a non-linear programming problem.
KeywordsMechanical System Normal Force Relative Displacement Tangential Force Human Hand
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