On grasp based objectives in human grasping simulation

Phutane U, Roller M, Leyendecker S (2019)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2019

Journal

Proceedings in Applied Mathematics and Mechanics Gesellschaft für Angewandte Mathematik und Mechanik (GAMM)

Book Volume: 19

Conference Proceedings Title: Proc. Appl. Math. Mech. (PAMM)

Event location: Vienna AT

Journal Issue: 1

DOI: 10.1002/pamm.201900226

Abstract

We solve optimal control problems to perform predictive human grasping simulation for a two‐finger rigid multibody model. The quality of the grasp is strongly influenced by the choice of the objective function. We investigate the quality of the grasp using objectives based on grasp matrix and the hand Jacobian. We compare the performance of optimal control grasping simulations by minimising objectives based on these grasp quality measures for a lateral grasp activity.

Authors with CRIS profile

Uday Phutane Institute of Applied Dynamics Sigrid Leyendecker Institute of Applied Dynamics

Related research project(s)

Optimal control of biomechanical MBS-Digital Human Models for simulation in the virtual assembly planning (MKS-Menschenmodelle) Nov. 1, 2015 - March 31, 2018

Involved external institutions

Fraunhofer-Institut für Techno- und Wirtschaftsmathematik (ITWM) / Fraunhofer Institute for Industrial Mathematics DE Germany (DE)

How to cite

APA:

Phutane, U., Roller, M., & Leyendecker, S. (2019). On grasp based objectives in human grasping simulation. In Proc. Appl. Math. Mech. (PAMM). Vienna, AT.

MLA:

Phutane, Uday, Michael Roller, and Sigrid Leyendecker. "On grasp based objectives in human grasping simulation." Proceedings of the GAMM Annual Meeting, Vienna 2019.

BibTeX: Download