Optimal Control of Grasping Problem Using Postural Synergies

Phutane U, Roller M, Boebel A, Leyendecker S (2020)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2020

Pages Range: 206-213

Conference Proceedings Title: Proceedings of the 6th International Digital Human Modeling Symposium

Event location: Skövde SE

URI: http://ebooks.iospress.nl/volume/dhm2020-proceedings-of-the-6th-international-digital-human-modeling-symposium

DOI: 10.3233/ATDE200026

Abstract

The human hand has a complex musculoskeletal structure which acts as an effective end-effector to perform grasping effectively. Optimal control is a productive method to execute predictive simulations for many biomechanical activities. Optimal control for grasping simulations has been demonstrated for precision grasps for two fingers. However, the procedure to expand it to a full hand is laborious, primarily due to a large computational cost. Furthermore, a full hand performs with a high degree of coordination. These issues can be challenged by the inclusion of kinematic or postural synergies in the multibody framework. In this work, we implement the modelling of kinematic synergies to perform grasping simulations.

Authors with CRIS profile

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

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., Boebel, A., & Leyendecker, S. (2020). Optimal Control of Grasping Problem Using Postural Synergies. In Proceedings of the 6th International Digital Human Modeling Symposium (pp. 206-213). Skövde, SE.

MLA:

Phutane, Uday, et al. "Optimal Control of Grasping Problem Using Postural Synergies." Proceedings of the 6th International Digital Human Modeling Symposium, Skövde 2020. 206-213.

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