2001/12/01 by Richard Wells, Michael Greig · 1 citation
Engineering · Neuroscience · #Robot Manipulation and Learning #Muscle activation and electromyography studies #Motor Control and Adaptation #Prehensile tail #Wrench #Dynamometer #Moment (physics) #Zero moment point #Engineering #Internal forces #Torque #Computer science #Simulation #Mechanical engineering #Structural engineering #Artificial intelligence #Physics #Robot #Geology #Classical mechanics
paper · doi:10.1080/00140130110109702
openalex publication_date 2001/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/29
Characterizing human hand capabilities or demand created by various occupational tasks or activities of daily living has been mainly accomplished by measuring the maximum force exerted on a force dynamometer in a number of standard grips, for example power, key pinch and tip pinch grips. A framework is proposed instead to characterize human hand prehensile strength in generic form by describing external force and moment wrench capability, where a wrench is a vector describing the forces and moments applied at a point. It is further suggested that if tools and activities are characterized by the internal forces and external forces and moments required, a better understanding of the human prehension in occupational settings and during activities of daily living can be obtained. An example of using a pistol grip drill is used to show the utility of the approach.