TY - GEN
T1 - A Novel Approach to Model the Kinematics of Human Fingers Based on an Elliptic Multi-Joint Configuration
AU - Wu, Zeyu
AU - Labazanova, Luiza
AU - Zhou, Peng
AU - Navarro-Alarcon, David
N1 - Funding Information:
This work is supported in part by: The Research Grants Council of Hong Kong (grants 14203917, F-PolyU503/18), the Jiangsu Industrial Technology Research Institute Collaborative Research Program Scheme (grant ZG9V), the 2019/20 Belt and Road Scholarship (Research Postgraduate), and PolyU (grants G-YBYT, 4-ZZHJ). Corresponding author: Luiza Labazanova.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/12
Y1 - 2021/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85124690247&partnerID=8YFLogxK
U2 - 10.1109/ICAR53236.2021.9659347
DO - 10.1109/ICAR53236.2021.9659347
M3 - Conference article published in proceeding or book
AN - SCOPUS:85124690247
T3 - 2021 20th International Conference on Advanced Robotics, ICAR 2021
SP - 777
EP - 784
BT - 2021 20th International Conference on Advanced Robotics, ICAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th International Conference on Advanced Robotics, ICAR 2021
Y2 - 6 December 2021 through 10 December 2021
ER -