标题：Biomechanical study of human limbs under a robot hand manipulation using finite element analysis
作者：Gan, Haihong ;Li, Xueyong ;Lu, Changhou ;Zhang, Wanming ;Wang, Yonghui
作者机构：[Gan, Haihong ;Li, Xueyong ;Lu, Changhou ] Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE, School of Mechanical Engineering 更多
会议名称：15th IEEE International Conference on Mechatronics and Automation, ICMA 2018
会议日期：5 August 2018 through 8 August 2018
来源：Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
关键词：Biomechanical study; FE model; Robot hand; Shank
摘要：Using a robot hand to manipulate human's living limbs is the core technology to develop a humanoid nursing robot. The safety and comfort of the living tissues grasped by a robot hand need to be fully considered. In this paper, we study the biomechanical properties of the shank when a pair of flat-panel fingers exerts a grasping force on it. Two important parameters, the grasping force and the angle between two fingers, which have great impact on the limb's stress and strain distribution, are studied in the paper. The FE (Finite Element) model of a human shank is firstly built based on the 3D model reconstructed from the CT (Computed Tomography) scanning images. Then, the Stress and Strain distributions of the shank corresponding to different grasping forces and angles of fingers are analyzed. The analysis results can give an optimized solution for the structure design as well as the configuration of the robot hand in a nursing robot. © 2018 IEEE.