ARUP; ISBN: 978-0-9562121-5-3 - CMBBE 2012 - Cardiff University

opposed to the relative velocity between the contacting points on both surfaces.
In order to extend the use of the present contact model for simulation of grasping with
the whole hand, experimental data relating force with displacement and force with
contact area for different points of the palmar aspect of the hand would be necessary.
Future work is being addressed to obtain this data. Another question of interest to be
studied is the effect of the object curvature in the value of the optimized parameters of
the model. The adjusted soft contact model will be included in the future in a
biomechanical model of the hand previously developed in our group [15] and tested in
different simple grasping scenarios to evaluate its suitability to evaluate human grasp
performance.
7. ACKNOWLEDGMENT
We thank the financial support of the Fundació Caixa-Castelló and the Universitat
Jaume I throughout the project P1-1B2011-25, and the Spanish Research and Innovation
Ministry and the EU (FEDER funds) throughout the project DPI2010-18177. This
research is related to both projects.
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