Hand grasping simulation

[Houcheng Li]

Hello, recently, I am working on establishing a hand grasping simulation based on the hand musculoskeletal model in OpenSim. I have collected the grasp motion data by the motion capture system. But I don't have the grasp force data. I want to calculate the grasping force (human-object contact force) by the simulation.

I use CMC to compute control signals for grasping tasks. However, the result of CMC will completely collapse after the hand contact the object ("Collapse" means that the control signal of CMC cannot track desired motion file (.mot), sometimes will lose control). How can I simulate the hand grasping task?

Any advice will help, thanks in advance.