Anthropomorphic robot hands have come to a technical level where understanding exact human hand kinematics becomes relevant, e.g. the hand/arm system that is presently being developed at DLR. Human hand kinematics have been investigated through cadaver hands and optical motion tracking of surface markers. A problem with the former is that tissue properties might be altered due to tissue necrosis. With the latter, the motion of the skin relative to the bones leads to so called soft tissue artifacts (STA) that negatively influence the quality of the results. To allow in vivo measurements and to avoid STA, we recorded finger postures by magnetic resonance imaging (MRI). We used a method similar to the one described by Miyata et al. in 2005, but with a much larger number of hand postures, resulting in a model with multi-degree-of-freedom (multi-DoF) joints.
Human hand kinematics based on MRI imaging
2009
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Human hand modelling: kinematics, dynamics, applications
Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2012
|Human Hand: Kinematics, Statics, and Dynamics
AIAA | 2011
|2011-5249 Human Hand: Kinematics, Statics, and Dynamics
British Library Conference Proceedings | 2011
|A Feasibility Study of Hand Kinematics for EVA Analysis Using Magnetic Resonance Imaging
SAE Technical Papers | 1992
|A Method for Hand Kinematics Designers 7 Billion Perfect Hands
Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2010
|