Variations in the Biomechanics of 16 Palmar Hand Regions Related to Tomato Picking
作者机构：College of Mechanical and Electronic EngineeringNorthwest A&F UniversityYanglingXianyang712100China The Key Laboratory of Bionic Engineering(Ministry of Education)Jilin UniversityChangchun130012China Postharvest Research LaboratoryDepartment of Botany and Plant BiotechnologyUniversity of JohannesburgJohannesburg2006South Africa Dynax Corporation1-12-710FFuchuchoFuchushiTokyo183-0055Japan
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2023年第20卷第1期
页 面：278-290页
核心收录：
学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 09[农学] 0836[工学-生物工程] 0902[农学-园艺学] 0702[理学-物理学] 090202[农学-蔬菜学]
基 金：supported by a European Marie Curie International Incoming Fellowship(326847 and 912847) a Chinese Universities Scientific Fund(2452018313) an Opening Project of the Key Laboratory of Bionic Engineering(Ministry of Education)of Jilin University(KF20200005)
主 题：Human hand.Bionic grasping Elastic deformation Tomato picking Robotic hand
摘 要：The aim of this study is to systematically reveal the differences in the biomechanics of 16 hand regions related to bionic picking of *** biomechanical properties(peak loading force,elastic coefficient,maximum percentage deformation and interaction contact mechanics between human hand and tomato fruit)of each hand region were experimentally measured and covariance *** results revealed that there were significant variations in the assessed biomechanical properties between the 16 hand regions(p0.05).The maximum pain force threshold(peak loading force in I2 region)was 5.11 times higher than the minimum pain force threshold(in Th1 region).It was found that each hand region in its normal direction can elastically deform by at least 15.30%.The elastic coefficient of the 16 hand regions ranged from 0.22 to 2.29 N mm−*** interaction contact force acting on the fruit surface was affected by the selected human factors and fruit *** obtained covariance models can quantitatively predict all of the above biomechanical properties of 16 hand *** findings were closely related to hand grasping performance during tomato picking,such as soft contact,surface interaction,stable and dexterous grasping,provided a foundation for developing a high-performance tomato-picking bionic robotic hand.
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