Rule Based Simulation of Simple Object Grasping on a Graphical Manikin
The objective of this work is to identify rules for the simulation of grasping movements from the analysis of a data base of experimentally recorded movements. A data base of grasping movements of simple objects (cube, cylinder and sphere) ranging from 40 to 80 mm, with different grasping modes (precision and force) has been constituted through an experiment with seven (right handed) volunteers. The movements have been recorded by means of a motion capture system (VICON(R) tracking surface markers located on the major joints of the seated volunteers right hand. Each movement consisted in moving the hand towards the object, starting from a resting position located on the seat armrest and grasping the object located in front of the subjects shoulder at a distance of 2/3 of extended arm length. As a whole, 441 movements have been recorded (3 objects x 3 sizes x7 grasping modes x 7 subjects). The surface marker 3D trajectories have been normalized in time and amplitude in order to facilitate the search for generic features in the movement history. Mobility angles of a manikin upper limb and hand model have been calculated by an inverse kinematics method. The analysis of wrist and finger angles time history allowed to identify the main features of movement organization according to object nature, size and location and according to grip type. The rules extracted from the analysis allow the construction of a grasping movement, knowing the type of object, its size and its position. From this information, a 3D trajectory of the hand to approach the object, the velocity profile, the hand orientation and the movement of the fingers are determined until the fingers hold the object.
Jean-Pierre Verriest
Université de Lyon, F-69622, Lyon, France ; INRETS, UMR_T9406, LBMC; Université Lyon 1.25 avenue Fran(c)ois Mitterrand, 69675 Bron Cedex, France, jean-pierre.
国际会议
17th World Congress on Ergonomics(第十七届国际人类工效学大会)
北京
英文
1-9
2009-08-09（万方平台首次上网日期，不代表论文的发表时间）