Soft Tissue Mechanics in Human Dexterity via Internal Sensing

我们将研究人体软组织如何机械地促进人类运动的灵活性。首先，我们制定了动态流变变形使用有限元近似的软组织建模。我们建立了一种从实际变形物体的测量中识别模型中变形参数的方法。其次，我们提出了两种计算软组织MR图像内部变形的方法。然后，我们构建了人类指尖的力学模型来模拟它们在抓取和操作物体时的变形。其次，我们建立了软指尖储存的势能，提出了软指尖抓握和操作的控制规律。我们的结论是，所提出的控制律对信号处理中的延迟具有鲁棒性，这种鲁棒性来源于指尖的柔软性。

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.