Virtual human hand: grasps and fingertip deformation

The objective of this paper is to simulate the human hand when grasping an object, considering the angles of the finger joints and the fingertip deformation. To study the grasp of an object used in activities of daily life (ADL) we focus on the equations given by grasps with force-closure. In this paper we address several topics and study grasping holistically, including power and precision grasping, the position of the finger and joint angles, fingertip deformation and fingertip forces (normal and frictional forces), and assess ho wall these features combine to perform a complete grasping action. Conclusions: We describe the strategy used to solve the problem of calculating the force when grasping with five fingers; the same strategy is used in both power and precision grasps.Peer ReviewedPostprint (published version