A first step in finite-element simulation of a grasping task

Chamoret, Dominique; Bodo, Michèle; Roth, Sébastien

doi:10.1080/24699322.2016.1240294

Cited by 23 publications

(32 citation statements)

References 38 publications

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“…Since the soft tissue is almost incompressible, its Poisson's ratio was set as 0.45 [21]. The Young's modulus of 15 GPa and the Poisson's ratio of 0.3 were set for bones [22]. As mechanical properties of the LTT material were not available from the manufacturer, a tensile strength test was conducted on five LTT samples following the ISO 527-1993 standard using the MZ-4000D1 tensile strength test machine (MingZhu Instruments Ltd., China).…”

Section: A Fea Of An Orthosis Worn On Handmentioning

confidence: 99%

A Soft Pressure Sensor Skin for Hand and Wrist Orthoses

Tan

Cao

et al. 2020

IEEE Robot. Autom. Lett.

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Side effects caused by excessive contact pressure such as discomfort and pressure sores are commonly complained by patients wearing orthoses. These problems leading to low patient compliance decrease the effectiveness of the device. To mitigate side effects, this study describes the design and fabrication of a soft sensor skin with strategically placed 12 sensor units for static contact pressure measurement beneath a hand and wrist orthosis. A Finite Element Model was built to simulate the pressure on the hand of a subject and sensor specifications were obtained from the result to guide the design. By testing the fabricated soft sensor skin on the subject, contact pressure between 0.012 MPa and 0.046 MPa was detected, revealing the maximum pressure at the thumb metacarpophalangeal joint which was the same location of the highest pressure of simulation. In this paper, a new fabrication method combining etching and multi-material additive manufacture was introduced to produce multiple sensor units as a whole. Furthermore, a novel fish-scale structure as the connection among sensors was introduced to stabilize sensor units and reinforce the soft skin. Experimental analysis reported that the sensor signal is repeatable, and the fish-scale structure facilitates baseline resuming of sensor signal during relaxation.

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Section: A Fea Of An Orthosis Worn On Handmentioning

confidence: 99%

A Soft Pressure Sensor Skin for Hand and Wrist Orthoses

Tan

Cao

et al. 2020

IEEE Robot. Autom. Lett.

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“…18,19 The material parameters thus The bones were considered as isotropic linear elastic, with Young's modulus of 17 GPa and Poisson ratio of 0.3. 7,19 The stiffness of the ligaments/spring elements were obtained from the existing data available in the literature 6,29,46 and the detailed information was presented in Table S1 in the supplementary material of this paper.…”

Section: Materials Propertiesmentioning

confidence: 99%

“…18 Two key issues of contact definition in the FE model are the impenetrability and friction. 7 The 'hard contact' was defined between the hand and the grasped object, allowing no penetration of the element nodes into another surface of the contact pair. Frictional surface-to-surface contact behaviour was defined to allow sliding between the skin and the objects with a friction coefficient of 0.74.…”

Section: Materials Propertiesmentioning

confidence: 99%

“…However, only the geometry of a fingertip was developed, so muscle force cannot be applied and the active touch process cannot be simulated. Chamoret et al 7 created a whole hand FE model which contained bones, soft tissues and skin reconstructed from CT images. The material properties of skin and subcutaneous tissues were simplified as isotropic linear elastic.…”

Section: Introductionmentioning

confidence: 99%

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Subject-Specific Finite Element Modelling of the Human Hand Complex: Muscle-Driven Simulations and Experimental Validation

et al. 2019

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This paper aims to develop and validate a subjectspecific framework for modelling the human hand. This was achieved by combining medical image-based finite element modelling, individualized muscle force and kinematic measurements. Firstly, a subject-specific human hand finite element (FE) model was developed. The geometries of the phalanges, carpal bones, wrist bones, ligaments, tendons, subcutaneous tissue and skin were all included. The material properties were derived from in-vivo and in-vitro experiment results available in the literature. The boundary and loading conditions were defined based on the kinematic data and muscle forces of a specific subject captured from the in-vivo grasping tests. The predicted contact pressure and contact area were in good agreement with the in-vivo test results of the same subject, with the relative errors for the contact pressures all being below 20%. Finally, sensitivity analysis was performed to investigate the effects of important modelling parameters on the predictions. The results showed that contact pressure and area were sensitive to the material properties and muscle forces. This FE human hand model can be used to make a detailed and quantitative evaluation into biomechanical and neurophysiological aspects of human hand contact during daily perception and manipulation. The findings can be applied to the design of the bionic hands or neuro-prosthetics in the future.

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“…Finite element (FE) fingertip models can help investigate fingertip-object interactions during manipulation tasks (Wu et al, 2006;Chamoret et al, 2016;Harih and Dolšak, 2014). This way, they can be helpful to predict the ergonomy of a product as in textile industries (Ciesielska-Wrobel et al, 2014) or haptic device conception (Ambrosi et al, 1999).…”

Section: Introductionmentioning

confidence: 99%

MRI-based experimentations of fingertip flat compression: Geometrical measurements and finite element inverse simulations to investigate material property parameters

Dallard

Merlhiot

Petitjean

et al. 2018

Journal of Biomechanics

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Modeling human-object interactions is a necessary step in the ergonomic assessment of products. Fingertip finite element models can help investigating these interactions, if they are built based on realistic geometrical data and material properties. The aim of this study was to investigate the fingertip geometry and its mechanical response under compression, and to identify the parameters of a hyperelastic material property associated to the fingertip soft tissues. Fingertip compression tests in an MRI device were performed on 5 subjects at either 2 or 4 N and at 15° or 50°. The MRI images allowed to document both the internal and external fingertip dimensions and to build 5 subject-specific finite element models. Simulations reproducing the fingertip compression tests were run to obtain the material property parameters of the soft tissues. Results indicated that two ellipses in the sagittal and longitudinal plane could describe the external fingertip geometry. The internal geometries indicated an averaged maximal thickness of soft tissues of 6.4 ± 0.8 mm and a 4 ± 1 mm height for the phalanx bone. The averaged deflections under loading went from 1.8 ± 0.3 mm at 2 N, 50° to 3.1 ± 0.2 mm at 4 N, 15°. Finally, the following set of parameters for a second order hyperelastic law to model the fingertip soft tissues was proposed: C=0.59 ± 0.09 kPa and C = 2.65 ± 0.88 kPa. These data should facilitate further efforts on fingertip finite element modeling.

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A first step in finite-element simulation of a grasping task

Cited by 23 publications

References 38 publications

A Soft Pressure Sensor Skin for Hand and Wrist Orthoses

A Soft Pressure Sensor Skin for Hand and Wrist Orthoses

Subject-Specific Finite Element Modelling of the Human Hand Complex: Muscle-Driven Simulations and Experimental Validation

MRI-based experimentations of fingertip flat compression: Geometrical measurements and finite element inverse simulations to investigate material property parameters

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