Grasp synthesis considering graspability for a digital hand with limited thumb range of motion*

This paper proposes the synthesis of grasp postures using a digital hand with limited range motion (ROM) thumb. To virtually evaluate universal design products, it is necessary to synthesize natural grasps for different hands, including those disabilities. In terms disability, we focused on ROM thumb, which typically observed in patients carpal tunnel syndrome (CTS). Based musculoskeletal model, extended contact-region-based method include an ROM-limited and succeeded synthesizing mechanically feasible that viably reflect features