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Optimal Control of Grasping Problem Using Postural Synergies

: Phutane, U.; Roller, M.; Böbel, A.; Leyendecke, S.

Volltext ()

Hanson, L.:
6th International Digital Human Modeling Symposium 2020. Proceedings : August 31 - September 2, 2020
Amsterdam: IOS Press, 2020 (Advances in Transdisciplinary Engineering 11)
ISBN: 978-1-64368-104-7
ISBN: 978-1-64368-105-4
International Digital Human Modeling Symposium (DHM) <6, 2020, Skövde>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer ITWM ()

The human hand has a complex musculoskeletal structure which acts as an effective end-effector to perform grasping effectively. Optimal control is a productive method to execute predictive simulations for many biomechanical activities. Optimal control for grasping simulations has been demonstrated for precision grasps for two fingers. However, the procedure to expand it to a full hand is laborious, primarily due to a large computational cost. Furthermore, a full hand performs with a high degree of coordination. These issues can be challenged by the inclusion of kinematic or postural synergies in the multibody framework. In this work, we implement the modelling of kinematic synergies to perform grasping simulations.