ヒトの手部筋骨格モデルを用いた力学的負担の最小化に基づく物体把握姿勢の生成

抄録

Virtual ergonomic assessment of product using digital human models has recently been receiving much attention. In order to evaluate usability of a handheld product, a digital hand model must be constructed and kinematic and mechanical interaction between the hand and product models must be simulated for ergonomic assessment in virtual space. The human hand, however, is a highly complex musculoskeletal system with large number of joint and muscle degrees of freedom. Therefore, there are many possible ways to grasp an object. In the present study, we developed a method to estimate a grasping posture of the human hand for a given object based on a physiologically plausible criterion, i.e., minimization of muscle load, based on a three-dimensional anatomically-based hand musculoskeletal model.