A Novel Approach to Model the Kinematics of Human Fingers Based on an Elliptic Multi-Joint Configuration

Zeyu Wu, Luiza Labazanova, Peng Zhou, David Navarro-Alarcon

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the relative movement of the bones. Commonly used assumption of circular trajectories simplifies the designing process but leads to divergence with the actual hand behavior. The advantages of the proposed model are demonstrated through the comparison with the conventional revolute joint model. Conducted simulations and experiments validate designed forward and inverse kinematic algorithms. Obtained results show a high performance of the model in mimicking the human fingertip motion trajectory.

Original languageEnglish
Title of host publication2021 20th International Conference on Advanced Robotics, ICAR 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages777-784
Number of pages8
ISBN (Electronic)9781665436847
DOIs
Publication statusPublished - Dec 2021
Event20th International Conference on Advanced Robotics, ICAR 2021 - Ljubljana, Slovenia
Duration: 6 Dec 202110 Dec 2021

Publication series

Name2021 20th International Conference on Advanced Robotics, ICAR 2021

Conference

Conference20th International Conference on Advanced Robotics, ICAR 2021
Country/TerritorySlovenia
CityLjubljana
Period6/12/2110/12/21

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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