Visualization of multidigit manipulation mechanics: Manipulation mechanics
Visualization of multidigit manipulation mechanics: Manipulation mechanics
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DOI：
10.1109/tim.2005.858123
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发表时间：
2005-12-01
影响因子：
5.6
通讯作者：
Li, ZM
中科院分区：
文献类型：
--
作者：
Dun, SC;Li, ZM
本文的目的是开发一个可视化工具，在对象的接触力学在手指接口和多个手指之间的力协调在操作任务的调查。五个微型六分量力/扭矩传感器，安装在一个定制的仪表处理，被用来记录在五位数的操作任务期间的单个手指的尖端的力/扭矩数据。一个数字化设备被用来获得三维（3-D）坐标的解剖标志的手的构造的手的几何模型。将三维手模型和传感器测得的力数据转换到一个通用的手柄坐标系中，使力矢量叠加在手指尖上。一名受试者进行了三项静态操作任务（抓握、旋转和提升），在稳定的仪器手柄上进行最大自主收缩。个体手指的力向量大小和方向与任务有关，个体在不同的任务中倾向于使用不同的力协调策略来最大化任务效率。本文提出的可视化方法为研究物-指相互作用机理和指间力协调提供了一种有效的工具。
The purpose of this paper is to develop a visualization tool for the investigation of the contact mechanics at the object-digit interface and force coordination among multiple digits during manipulation tasks. Five miniature six-component force/torque transducers, mounted on a custom-made instrumented handle, were used to record force/torque data at the tips of individual digits during five-digit manipulation tasks. A digitizing device was used to obtain three-dimensional (3-D) coordinates of anatomical landmarks of the hand for the construction of a hand geometric model. The 3-D hand model and force data from transducers were transformed to a common handle coordinate frame so that force vectors were superimposed on digit-tips. One subject performed three static manipulation tasks (grasping, rotating, and lifting) with maximum voluntary contraction on the stabilized instrumented handle. The magnitude and orientation of the force vectors of individual digits were dependent on the tasks, and the subject tended to maximize task efficiency by utilizing different force coordination strategies for different tasks. The visualization methods developed in this paper could potentially provide an effective tool for the examination of object-digit interaction mechanics and interdigit force coordination.