Optimization-Based Grasp Posture Generation Method of Digital Hand for Virtual Ergonomics Assessment

Yui Endo; Satoshi Kanai; Natsuki Miyata; Makiko Kouchi; Masaaki Mochimaru; Jun Konno; Michiyo Ogasawara; Marie Shimokawa

doi:10.4271/2008-01-1902

2008-06-17

Optimization-Based Grasp Posture Generation Method of Digital Hand for Virtual Ergonomics Assessment 2008-01-1902

Automatically generating humanlike grasp postures of the digital hand is a key issue for the virtual ergonomic assessment of the industrial products. In this paper we propose a new optimization-based approach for generating the realistic grasp posture. As an objective function, we use the number of the contact points, the fit of the specific part of the hand surface for the feature edges of the product surface and the margin for the constraints on the joint angle limits of the figures. The experimental studies on the grasp posture generation for the digital camera indicate that more realistic grasp posture could be generated using the proposed optimization-based method than the one using our former method.

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Optimization-Based Grasp Posture Generation Method of Digital Hand for Virtual Ergonomics Assessment 2008-01-1902

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