MULTIFINGERS MANIPULATION MODELING WITH THUMB ABDUCT-OPPOSED MOTIONS UNDER MUSCLE ACTIVATIONS

摘要

Multifingers hand of a living human driven by muscle activation has been analysed using multibody dynamics approach, based on the updated Lagrange method. Combined it with thumb co-rotational, (i.e. abduct-opposed) motions, a coupled dynamics of the joint angular motion and joint torque, driven by counter-muscle activations during the pinching task of multifingers hand have been formulated. An exclusive computer system has been developed and the applicabilities of the system has been successfully verified through some applications.