scholarly journals Redundancy understanding and theory for robotics teaching: Application on a human finger model

2021 ◽  
Vol 1 (1) ◽  
pp. 17
Author(s):  
Med Amine Laribi ◽  
Saïd Zeghloul
Keyword(s):  
Human Finger ◽  
Finger Model ◽  
Teaching Application

scholarly journals Finite element analysis to assess the biomechanical behavior of a finger model gripping handles with different diameters

2019 ◽  
Vol 11 (1) ◽  
pp. 69-79 ◽  
Author(s):  
Benedict Jain A.R. Tony ◽  
Masilamany S. Alphin
Keyword(s):  
Finite Element ◽  
Contact Pressure ◽  
Subcutaneous Tissue ◽  
Fe Model ◽  
Stress Strain ◽  
Element Analysis ◽  
Biomechanical Behavior ◽  
Biomechanical Response ◽  
Human Finger ◽  
Finger Model

SummaryStudy aim: Interactions between the fingers and a handle can be analyzed using a finite element finger model. Hence, the biomechanical response of a hybrid human finger model during contact with varying diameter cylindrical handles was investigated numerically in the present study using ABAQUS/CAE.Materials and methods: The finite element index finger model consists of three segments: the proximal, middle, and distal phalanges. The finger model comprises skin, bone, subcutaneous tissue and nail. The skin and subcutaneous tissues were assumed to be non-linearly elastic and linearly visco-elastic. The FE model was applied to predict the contact interaction between the fingers and a handle with 10 N, 20 N, 40 N and 50 N grip forces for four different diameter handles (30 mm, 40 mm, 44mm and 50 mm). The model predictions projected the biomechanical response of the finger during the static gripping analysis with 200 incremental steps.Results: The simulation results showed that the increase in contact area reduced the maximal compressive stress/strain and also the contact pressure on finger skin. It was hypothesized in this study that the diameter of the handle influences the stress/strain and contact pressure within the soft tissue during the contact interactions.Conclusions: The present study may be useful to study the behavior of the finger model under the static gripping of hand-held power tools.

Experimental Verification of a Dynamic Finger Model Using Real-Time Data Acquisition

2003 ◽  
Author(s):  
David McNeal ◽  
Farid Amirouche ◽  
Mark Gonzalez
Keyword(s):  
Mathematical Model ◽  
Real Time ◽  
Experimental Verification ◽  
Time Data ◽  
Stiffness Constant ◽  
Real Time Data ◽  
Flexion Moment ◽  
Human Finger ◽  
Finger Model ◽  
Annular Pulleys

The purpose of this experiment is to create a mathematical model for the function of the annular pulleys of the human finger in flexion. We have assumed that the flexion moment of the middle and proximal phalanges occurs at the proximal and distal ends of the A-2 and A-4 pulleys. The amount of force generated is dependent on the angle of flexion at the adjacent joint, the tension in the tendon and the stiffness constant of the pulley.

scholarly journals A Sequential Approach to the Biodynamic Modeling of a Human Finger

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Luka Knez ◽  
Janko Slavič ◽  
Miha Boltežar
Keyword(s):  
Mechanical Model ◽  
Index Finger ◽  
Simulated Data ◽  
Body Parts ◽  
Sequential Approach ◽  
Novel Device ◽  
Single Finger ◽  
Mechanical Models ◽  
Human Finger ◽  
Finger Model

In an effort to understand the vibration-induced injuries incurred by manual workers, mechanical models are developed and used to predict the biodynamic responses of human body parts that are exposed to vibration. Researchers have traditionally focused on the arms and hands, but there has been only limited research on finger modeling. To simulate the accurate response of a single finger, a detailed mechanical model based on biodynamic finger measurements is necessary. However, the development of such models may prove difficult using the traditional one-point coupling method; therefore, this study proposes a new approach. A novel device for single-finger measurements is presented and used to expose the finger to a single-axial broadband excitation. The sequentially measured responses of the different finger parts are then used to identify the parameters of a multibody mechanical model of the index finger. Very good agreement between the measured and the simulated data was achieved, and the study also confirmed that the obtained index-finger model is acceptable for further biodynamic studies.

Sensitivity analysis of a human finger model

2017 ◽  
Author(s):  
S. Allouch ◽  
R. Younes ◽  
J. Laforet ◽  
S. Boudaoud ◽  
M. Khalil
Keyword(s):  
Sensitivity Analysis ◽  
Human Finger ◽  
Finger Model

PHYSIOLOGICAL AND BIOMECHANICAL APPROACH FOR HUMAN FINGER MOVEMENT: MODELING, SIMULATION AND EXPERIMENTAL VALIDATION

2014 ◽  
Vol 14 (03) ◽  
pp. 1450040 ◽  
Author(s):  
SAMAR ALLOUCH ◽  
RAFIC YOUNÈS ◽  
SOFIANE BOUDAOUD ◽  
MOHAMAD KHALIL
Keyword(s):  
Initial Conditions ◽  
Optimization Technique ◽  
Finger Movement ◽  
Neural Activation ◽  
Proposed Model ◽  
Simulation And Experiment ◽  
Model Reliability ◽  
Muscle Activations ◽  
Human Finger ◽  
Finger Model

The work presented in this paper deals with the description of an analytic modeling of the neuromusculoskeletal system responsible for the finger movement. This simulation task is complex due to the interacting processes (physiological and biomechanical) represented by muscles, joints and bones. In this study, we focused on the presentation of a complete model for the finger motion decomposed in quasi-static positions. In fact, this model can be considered as a preliminary step before dynamic modeling. The proposed model is composed of several compartments: biomechanical finger model, mechanical muscle model and muscle/neural activation model. The main objective of this study is to estimate, by inverse procedure, the muscle forces, muscle activations and neural activations that are responsible for generating a given finger movement decomposed in successive quasi-static positions. The anatomical model contains six muscles which control the decomposed movement of the three joints of the system. To estimate the model unknowns, an optimization technique is proposed for improving robustness to initial conditions and physiological reliability. After, an experimental protocol for recording surface electromyogram (sEMG) data, from three extrinsic muscles, according to specific finger positions is applied on five subjects to evaluate the model reliability. From analysis of the obtained results, both in simulation and experiment, the presented model seems to be able to mimic, in a realistic way, the finger movement decomposed in quasi-static positions. Finally, results, model limitations and further developments are discussed.

scholarly journals 266 Modeling of bilateral master-slave system for human-robot hand considering human finger model

2011 ◽  
Vol 2011.60 (0) ◽  
pp. _266-1_-_266-2_
Author(s):  
Kohei MIMA ◽  
Makoto HONDA ◽  
Takanori MIYOSHI ◽  
Kazuhiko TERASHIMA
Keyword(s):  
Robot Hand ◽  
Slave System ◽  
Human Finger ◽  
Finger Model ◽  
Master Slave System

Friction Evaluation System with a Human Finger Model

2013 ◽  
Vol 42 (3) ◽  
pp. 284-285 ◽  
Author(s):  
Keitaro Kuramitsu ◽  
Toshio Nomura ◽  
Shyuhei Nomura ◽  
Takashi Maeno ◽  
Yoshimune Nonomura
Keyword(s):  
Evaluation System ◽  
Human Finger ◽  
Finger Model

Dual approach transformation of human finger and toe nail pruning into MgO/CaO nanoalloy

2021 ◽  
Vol 126 ◽  
pp. 108479
Author(s):  
Poushpi Dwivedi ◽  
Dhanesh Tiwary ◽  
Pradeep Kumar Mishra ◽  
Shahid Suhail Narvi ◽  
Ravi Prakash Tewari
Keyword(s):  
Dual Approach ◽  
Human Finger

scholarly journals Three-Axis Pneumatic Haptic Display for the Mechanical and Thermal Stimulation of a Human Finger Pad

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 60
Author(s):  
Eun-Hyuk Lee ◽  
Sang-Hoon Kim ◽  
Kwang-Seok Yun
Keyword(s):  
Pulse Width Modulation ◽  
Haptic Feedback ◽  
Control Function ◽  
Lateral Displacement ◽  
Gain Control ◽  
Haptic Display ◽  
Positional Accuracy ◽  
Control Module ◽  
Haptic Displays ◽  
Human Finger

Haptic displays have been developed to provide operators with rich tactile information using simple structures. In this study, a three-axis tactile actuator capable of thermal display was developed to deliver tactile senses more realistically and intuitively. The proposed haptic display uses pneumatic pressure to provide shear and normal tactile pressure through an inflation of the balloons inherent in the device. The device provides a lateral displacement of ±1.5 mm for shear haptic feedback and a vertical inflation of the balloon of up to 3.7 mm for normal haptic feedback. It is designed to deliver thermal feedback to the operator through the attachment of a heater to the finger stage of the device, in addition to mechanical haptic feedback. A custom-designed control module is employed to generate appropriate haptic feedback by computing signals from sensors or control computers. This control module has a manual gain control function to compensate for the force exerted on the device by the user’s fingers. Experimental results showed that it could improve the positional accuracy and linearity of the device and minimize hysteresis phenomena. The temperature of the device could be controlled by a pulse-width modulation signal from room temperature to 90 °C. Psychophysical experiments show that cognitive accuracy is affected by gain, and temperature is not significantly affected.

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