Optimal Grip Points with Human Hand

Abstract

The aim of this work was to determine how an object of given shape should be grasped to maximize the grasping capacity of the human hand. To do that the model searches the optimal grip points on the object with the aim of maximizing the weight of the object lifted without slipping. The model solves both the equilibrium of the grasped object and the biomechanical constraints of the human hand, such as the stress limit of each muscle. To give some examples, grasps of three-dimensional (3D) objects of different shape and size were optimized. The results of the simulations done also allowed the identification of the parameters that further influence human grasping. Moreover, trials were done to prove the results given by the computational model.