Force distribution measurement to investigate dexterous manipulation of hand

This paper presents a force distribution measurement system to investigate dexterous manipulation of hand. The purpose of this measurement is to find good shape designs not away from the hand easily when the object is dexterously manipulated by hand. To do this, it is necessary to examine the force distribution generating on a contact point between the hand and the object. We have developed the measurement systems; one is the dynamics simulation space that has the collision calculation function. The other is the shape inspection of hand with a high-speed camera (2000fps) which is able to record the dexterous hand motion. It is used to evaluate hand manipulation, then the force distribution in the real manipulation is estimated. From the consideration, the simulation that realize the real manipulation is shown and discussed.