Experimantal study on path planning of fingertips in human grasping motion.
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Accession number;00A0274767
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| Title;Experimantal study on path planning of fingertips in human grasping motion. |
| Author;
NAKAZAWA NOBUAKI
(Gunma Univ., Grad. Sch.)
KAJIKAWA SHIN'YA
(Miyagi Natl. Coll. of Tedhnol.)
INOOKA HIKARU
(Tohoku Univ., Grad. Sch.)
IKEURA RYOJUN
(Mie Univ., Fac. of Eng.)
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Journal Title;Japanese Journal of Ergonomics
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Journal Code:S0258A
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ISSN:0549-4974
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VOL.36;NO.1;PAGE.19-27(2000)
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| Figure&Table&Reference;FIG.13, TBL.1, REF.9 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper describes path planning with respect to the thumb and index finger when the human extends the arm to the target object and grasps it. As the hand approaches the object, the span between the tips of the thumb and index finger is widened to be just larger than the width of the object. Even though the initial position of the hand is located at the right or left side of the frontal one, the motion of widening the span isn't performed excessively, but the velocity peak of widening appears slower than the case of the frontal grasping motion. The path planning of the two tips correlates closely with that of the wrist, and depends on the width of the object. When the object width is small, the shortest route is selected. In the case of the large width object, two tips trace a circular arc and approach from the front side of the object. The motion of reducing the span is performed just when the wrist velocity converges, regardless of the initial position. Moreover, the path model is suggested, and it is confirmed that the comparison between the model parameters of the two tips and wrist can judge the resemblance of the path. (author abst.) |
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