This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.
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