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Variations in the Biomechanics of 16 Palmar hand Regions Related to Tomato Picking

Journal of bionic Engineering 2023年第1期20卷 278-290页

作者： Xue An Zhiguo Li Jun Fu Tobi Fadiji Sheng Zhang College of Mechanical and Electronic Engineering Northwest A&F UniversityYanglingXianyang712100China The Key Laboratory of bionic Engineering(Ministry of Education) Jilin UniversityChangchun130012China Postharvest Research Laboratory Department of Botany and Plant BiotechnologyUniversity of JohannesburgJohannesburg2006South Africa Dynax Corporation 1-12-710FFuchuchoFuchushiTokyo183-0055Japan

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(phand 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.

关键词： human hand.bionic grasping Elastic deformation Tomato picking Robotic hand

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