Plan rada Seminara Mehanika mašina i mehanizama - modeli i matematičke metode za FEBRUAR 2021.
UTORAK, 16.02.2021. u 17:00, Live stream Beograd
Immaculada Llop-Harillo, Biomechanics and Ergonomics research group, Departamento de Ingeniería Mecánica y Construcción, Universitat Jaume I, Spain
EXPERIMENTAL, ANALYTICAL AND SIMULATION METHODS APPLICABLE DURING THE DESIGN PROCESS OF ANTHROPOMORPHIC ARTIFICIAL HANDS
In recent years there has been a significant progress in the development of anthropomorphic artificial hands, both for robotic applications (humanoid robotics and human-robot cooperation) and for prosthetic hands. Likewise, 3D printing technologies have facilitated the accessibility of the prostheses due to its low cost, easy customization and self-manufacturing. However, the progress in their development has not been followed by a parallel development of objective methods to assess their performance. The need for benchmarking in this field is extensively recognized. In order to evaluate the grasping ability and functionality of artificial hands and to compare them with the aim of obtaining optimized designs, the quantification of the degree of anthropomorphism of an artificial hand is a key factor, for which it is necessary to have adequate metrics or indexes. Assessing the capability of artificial hands to perform the main grasp types of human grasping in activities of daily living could provide their level of functionality. But while experimental approaches allow assessing the grasping ability of artificial hands with realistic information about the final performance, these are costly, time-consuming and require the use of physical prototypes, which is inconvenient in early design stages. Alternatively, the comparison of the hand features with those of the human hand through simplified models or computer simulation can be useful to evaluate and rank design alternatives, in which the architecture of the kinematic chain of an artificial hand is of primary relevance to achieve anthropomorphism in both sense, cosmesis and functionality. In this lecture, several experimental, analytical and simulation methods to evaluate anthropomorphic artificial hands will be presented, which intend to be useful to analyze their limitations and to optimize their designs. These methods are focused on the mechanical design of any anthropomorphic hand and a greater emphasis on the results of hands designed for 3D printing will be shown.
Seminar Mehanika mašina i mehanizama - modeli i matematičke metode započeo je sa radom u junu 2018.god. Seminar se održava do dva puta mesečno, utorkom u periodu od 17.00 - 19.00 u Matematičkom institutu SANU.