کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5041954 1474210 2017 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A soft-contact model for computing safety margins in human prehension
ترجمه فارسی عنوان
یک مدل تماس نرم افزاری برای محاسبه حاشیه ایمنی در احکام انسانی
کلمات کلیدی
تماس با نرم. حاشیه ایمنی، اصطکاک، برنامه ریزی درک، احتیاط
موضوعات مرتبط
علوم زیستی و بیوفناوری علم عصب شناسی علوم اعصاب شناختی
چکیده انگلیسی


- A novel soft-contact based safety margin model is proposed for studying human prehension.
- The model provides a mechanics based measure for computing safety margins.
- The model also quantifies how free moments applied by the digits contribute to grasp stability.

The soft human digit tip forms contact with grasped objects over a finite area and applies a moment about an axis normal to the area. These moments are important for ensuring stability during precision grasping. However, the contribution of these moments to grasp stability is rarely investigated in prehension studies. The more popular hard-contact model assumes that the digits exert a force vector but no free moment on the grasped object. Many sensorimotor studies use this model and show that humans estimate friction coefficients to scale the normal force to grasp objects stably, i.e. the smoother the surface, the tighter the grasp. The difference between the applied normal force and the minimal normal force needed to prevent slipping is called safety margin and this index is widely used as a measure of grasp planning. Here, we define and quantify safety margin using a more realistic contact model that allows digits to apply both forces and moments. Specifically, we adapt a soft-contact model from robotics and demonstrate that the safety margin thus computed is a more accurate and robust index of grasp planning than its hard-contact variant. Previously, we have used the soft-contact model to propose two indices of grasp planning that show how humans account for the shape and inertial properties of an object. A soft-contact based safety margin offers complementary insights by quantifying how humans may account for surface properties of the object and skin tissue during grasp planning and execution.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Human Movement Science - Volume 55, October 2017, Pages 307-314
نویسندگان
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