Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands
Nikolas Wilhelm, Claudio Glowalla, Sami Haddadin, Julian Schote, Hannes Höppner, Patrick van der Smagt, Maximilian Karl, Rainer Burgkart
Abstract
This study presents an innovative test rig engineered to explore the kinematic and viscoelastic characteristics of human specimen hands. The rig features eight force-controlled motors linked to muscle tendons, enabling precise stimulation of hand specimens. Hand movements are monitored through an optical tracking system, while a force-torque sensor quantifies the resultant fingertip loads. Employing this setup, we successfully demonstrated a pincer grip using a cadaver hand and measured both muscle forces and grip strength. Our results reveal a nonlinear relationship between tendon forces and grip strength, which can be modeled by an exponential fit. This investigation serves as a nexus between biomechanical and robotics-focused research, providing critical insights for the advancement of robotic hand actuation and therapeutic interventions.
BibTeX
@inproceedings{icra2024_designandimpleme,
title = {Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands},
author = {Nikolas Wilhelm and Claudio Glowalla and Sami Haddadin and Julian Schote and Hannes Höppner and Patrick van der Smagt and Maximilian Karl and Rainer Burgkart},
booktitle = {ICRA 2024},
year = {2024}
}