From Robot to Human Grasping Simulation [electronic resource] /
León, Beatriz.author.
Morales, Antonio.author.
Sancho-Bru, Joaquín.author.
The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.
Description based upon print version of record.
""Preface""; ""Contents""; ""1 Introduction""; ""1.1 The Grasping Process""; ""1.1.1 Grasping in Biomechanics""; ""1.1.2 Grasping in Robotics""; ""1.2 Simulation: A Tool Towards Understanding  the Grasping Process""; ""1.3 From Robot to Human Grasping Simulation""; ""1.4 Outline""; ""1.4.1 Part I: Robot Grasping Simulation""; ""1.4.2 Part II: Human Grasping Simulation""; ""References""; ""Part IRobot Grasping Simulation""; ""2 Robot Grasping Foundations""; ""2.1 Introduction""; ""2.2 Contact Modelling""; ""2.2.1 Contact Kinematics""; ""2.2.2 Contact Models""; ""2.2.3 Selection Matrices""
""2.3 Grasp Analysis""""2.3.1 Grasp Matrix and Hand Jacobian""; ""2.3.2 Disturbance Resistance""; ""2.3.3 Optimal Contact Forces Computation""; ""2.4 Grasp Synthesis""; ""References""; ""3 Robot Grasping Simulation""; ""3.1 Introduction""; ""3.1.1 Requirements for a Grasp Simulator""; ""3.1.2 Related Work""; ""3.2 OpenRAVE""; ""3.2.1 The Core Layer""; ""3.2.2 The Scripting Layer""; ""3.2.3 The Plugins Layer""; ""3.2.4 Object Manipulation in OpenRAVE""; ""3.3 OpenGRASP: Simulation Toolkit""; ""3.3.1 Developed Plugins""; ""3.3.2 Physics Simulation""; ""3.3.3 File Format for Robot Models""
""3.3.4 Robot Editor""""3.3.5 Robot Models""; ""3.4 Simulated Tactile Sensor""; ""3.4.1 Related Work""; ""3.4.2 Tactile Sensor Model""; ""3.4.3 Contact Force Model""; ""3.4.4 Tactile Sensor Plugin""; ""3.4.5 Experiments on Robot Grasping""; ""3.4.6 Discussion""; ""3.5 Conclusion""; ""References""; ""4 Applications of Robot Grasping Simulation""; ""4.1 Introduction""; ""4.2 Grasping Known Objects: Existing Approaches""; ""4.2.1 Grasp Hypothesis Database""; ""4.2.2 OpenRAVE Grasping Pipeline""; ""4.3 Grasping Known Objects: Using Uncertainty  Metric MOOM""; ""4.3.1 Related Work""
""4.3.2 MOOM: Model-Object Overlap Metric""""4.3.3 Grasping Pipeline""; ""4.3.4 Experimental Setup and Evaluation""; ""4.3.5 Discussion""; ""4.4 Grasping Unknown Objects: Using Symmetry Assumptions""; ""4.4.1 Predicting Object Shape Through Symmetry""; ""4.4.2 Grasping Pipeline""; ""4.4.3 Experiments""; ""4.4.4 Discussion""; ""4.5 Grasping Familiar Objects: Using Task Constraints""; ""4.5.1 Grasping Pipeline""; ""4.5.2 Experiments""; ""4.5.3 Discussion""; ""4.6 Dynamic Grasping Simulation""; ""4.6.1 Implementation""; ""4.6.2 Experimental Setup""; ""4.6.3 Results""; ""4.6.4 Discussion""
""4.7 Conclusion""""References""; ""Part IIHuman Grasping Simulation""; ""5 The Model of the Human Hand""; ""5.1 Introduction""; ""5.2 Literature Review""; ""5.2.1 Biomechanical Models of the Hand""; ""5.2.2 Hand Models in Ergonomics""; ""5.2.3 Grasping in Robotics""; ""5.3 Hand Model Proposed for the Study of Grasp""; ""5.4 Anatomy of the Hand: Terminology""; ""5.5 Biomechanical Model""; ""5.5.1 Kinematics""; ""5.5.2 Musculo-tendon Action""; ""5.5.3 Ligaments""; ""5.5.4 Soft Contact Model""; ""5.5.5 Skin Model""; ""5.5.6 Closure Algorithm""; ""5.5.7 Neuromuscular Control""
""5.6 Simulation Framework for Human Hand Grasping""
Includes bibliographical references.
The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.
Robotics.
Automation.
Computational intelligence.
Bioinformatics.
Biomedical engineering.
Robotics and Automation.
Computational Intelligence.
Computational Biology/Bioinformatics.
Biomedical Engineering and Bioengineering.

Cognitive Systems Monographs