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Optimization-Based Grasp Posture Generation Method of Digital Hand for Virtual Ergonomics Assessment
- Yui Endo - Hokkaido University, Japan ,
- Satoshi Kanai - Hokkaido University, Japan ,
- Natsuki Miyata - National Institute of Advanced Industrial Science and Technology (AIST), Japan ,
- Makiko Kouchi - National Institute of Advanced Industrial Science and Technology (AIST), Japan ,
- Masaaki Mochimaru - National Institute of Advanced Industrial Science and Technology (AIST), Japan ,
- Jun Konno - Nikon Corporation ,
- Michiyo Ogasawara - Nikon Corporation ,
- Marie Shimokawa - Nikon Corporation
ISSN: 1946-4614, e-ISSN: 1946-4622
Published June 17, 2008 by SAE International in United States
Citation: Endo, Y., Kanai, S., Miyata, N., Kouchi, M. et al., "Optimization-Based Grasp Posture Generation Method of Digital Hand for Virtual Ergonomics Assessment," SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 1(1):590-598, 2009, https://doi.org/10.4271/2008-01-1902.
Automatically generating humanlike grasp postures of the digital hand is a key issue for the virtual ergonomic assessment of the industrial products. In this paper we propose a new optimization-based approach for generating the realistic grasp posture. As an objective function, we use the number of the contact points, the fit of the specific part of the hand surface for the feature edges of the product surface and the margin for the constraints on the joint angle limits of the figures. The experimental studies on the grasp posture generation for the digital camera indicate that more realistic grasp posture could be generated using the proposed optimization-based method than the one using our former method.
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