This paper builds up on a recently developed and experimentally validated novel planar finger kinematic model for human hand configurations, which applies to the realization of a naturalistic human finger motion for artificial hands and robotic wearable devices. The model is derived based on the geometry of a hand shape grasping a virtual cylindrical object and is capable of describing the natural rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e., the radius of a cylindrical object R. The paper present new results on investigating the changes in joint angles with the change of R over time for natural motion and extends the model to the coordination of the finger joint velocities and accelerations. The merit of the resulting higher order kinematics model is in its simplicity with a potential of finding future applications in design, path planning, as well as assessment of mechanical limbs for natural motion.
Towards Modeling Finger Joint Coordination for Natural Motion
Mechan. Machine Science
USCToMM Symposium on Mechanical Systems and Robotics ; 2022 ; Rapid City, SD, USA May 19, 2022 - May 21, 2022
Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics ; Chapter : 6 ; 54-64
2022-04-01
11 pages
Article/Chapter (Book)
Electronic Resource
English
Towards Modeling Finger Joint Coordination for Natural Motion
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