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• W2146002008 abstract "Grasping is an essential requirement for digital human models (DHMs). It is a complex process and thus a challenging problem for DHMs, involving a skeletal structure with many degrees-of-freedom (DOFs), cognition, and interaction between the human and objects in the environment. Furthermore, grasp planning involves not only finding the shape of the hand and the position and orientation of the wrist but also the posture of the upper body required for producing realistic grasping simulations. In this paper, a new methodology is developed for grasping prediction by combining a shape-matching method and an optimization-based posture prediction technique. We use shape matching to pick a hand shape from a database of stored grasps, then position the hand around the object. The posture prediction algorithm then calculates the optimal posture for the whole upper body necessary to execute the grasp. The proposed algorithm is tested on a variety of objects in a 3-D environment. The results are realistic and suggest that the new method is more suitable for grasp planning than conventional methods. This improved performance is particularly apparent when the nature of the grasped objects is not known <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>a</i> <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>priori</i> , and when a complex high-DOF hand model is necessary." @default.
• W2146002008 created "2016-06-24" @default.
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• W2146002008 date "2009-03-01" @default.
• W2146002008 modified "2023-10-18" @default.
• W2146002008 title "A New Methodology for Human Grasp Prediction" @default.
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• W2146002008 doi "https://doi.org/10.1109/tsmca.2008.2010090" @default.
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