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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.

Este artículo describe el diseño e implementación de un novedoso sistema de inspección basado en visión artificial para detectar defectos en carrocerías de vehículos automóviles. El sistema ha sido implantado en la factoría Ford de Almussafes (Valencia) como consecuencia de varios proyectos de I+D entre Ford España, S.A. y el

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