The use of a biomechanical model for human grasp modelling is presented. A previously validated biomechanical model of the hand has been used. The equilibrium of the grasped object has been added to the model through the consideration of a soft contact model. A grasping posture generation algorithm has been also incorporated to the model. All the geometry has been represented using a spherical extension of polytopes (s-topes) for efficient collision detection.The model has been used to simulate an experiment in which a subject was asked to grasp two cylinders of different diameter and weight. Different objective functions have been checked to solve the indeterminate problem. The normal finger forces estimated by the model have been compared to the ones experimentally measured. The popular objective function sum of the squared muscle stresses has been shown not suitable for the grasping simulation, requiring at least being complemented by task dependent grasp quality measures.
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Revista:Mechanism and Machine Theory
AbstractThe face load factor is a common coefficient used in gear design standards that takes into account the uneven distribution of load across the face width of the gears caused by the mesh misalignment. In this paper, a finite element model that includes the gears and the corresponding shafts is proposed. The results obtained from the application of finite element analysis to this model are compared with those obtained from application of the ISO Standard 6336 coefficient-based method (Method C). The influence of the length of gear shafts, the face width of the gears, the relative position of the gears over their shafts, the ratio between the pitch radii of the gears and the radii of their shafts, and the relation between the mesh misalignment and the face load factor, have been investigated.
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