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On grasp based objectives in human grasping simulation

: Phutane, U.; Roller, M.; Leyendecker, S.


Proceedings in applied mathematics and mechanics. PAMM 19 (2019), Nr.1, Art. e201900226, 2 S.
ISSN: 1617-7061
International Association of Applied Mathematics and Mechanics (GAMM Annual Meeting) <90, 2019, Vienna>
Zeitschriftenaufsatz, Konferenzbeitrag
Fraunhofer ITWM ()

We solve optimal control problems to perform predictive human grasping simulation for a two‐finger rigid multibody model. The quality of the grasp is strongly influenced by the choice of the objective function. We investigate the quality of the grasp using objectives based on grasp matrix and the hand Jacobian. We compare the performance of optimal control grasping simulations by minimising objectives based on these grasp quality measures for a lateral grasp activity.