Soft Tissue Mechanics in Human Dexterity via Internal Sensing

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We will investigate how mechanically human soft tissues contribute to human motion dexterity. First, we have formulated dynamic rheological deformation using finite element approximation for the modeling of soft tissues. We have established a method to identify deformation parameters in the model from the measurement of actually deforming objects. Second, we have proposed two methods to compute inner deformation from MR images of soft tissues. We have then constructed mechanical models of human fingertips to simulate their deformation during object grasping and manipulation. Next, we have formulated potential energy stored in soft fingertips to proposed control laws for grasping and manipulation performed by soft fingertips. We have concluded that the proposed control law is robust against the delay in signal processing and this robustness originates from the softness of fingertips.