Posture Prediction and Force/Torque Analysis for Human Hands
Posture Prediction and Force/Torque Analysis for Human Hands
复制标题
人手姿势预测和力/扭矩分析
DOI：
10.4271/2006-01-2326
复制
发表时间：
2006
影响因子：
3.2
通讯作者：
K. Abdel
中科院分区：
文献类型：
--
作者：
Jingzhou Yang;E. P. Pitarch;Joo H. Kim;K. Abdel
在真实的和虚拟的世界中，人手是人与被操纵或抓取物体之间的桥梁。手被用于抓握或操纵物体，并且最重要的功能之一是定位手指，即，给定指尖的位置并确定关节角度。去年，我们提出了一个25自由度（DOF）的手模型，具有掌弓功能。在本文中，我们预设了一个基于优化的逆运动学方法来定位这25自由度的手相对于手腕，而不是传统的Moore-Penrose伪逆和实验方法。假设是，人类的表现措施支配的配置和运动的手。我们还提出了接触力和联合扭矩预测。该阐述解决了（1）确定一个点是否可达（即，它是否在可达包络内），（2）对于给定目标点的手指姿势的预测，（3）给定手指接触力分析关节扭矩，以及（4）给定关节扭矩分析手指接触力。我们通过例子来说明该方法。
Human hands are the bridge between humans and the objects to be manipulated or grasped both in the real and virtual world. Hands are used to grasp or manipulate objects and one of the most important functionalities is to position the fingers, i.e., given the position of the fingertip and to determine the joint angles. Last year we presented a 25-degree of freedom (DOF) hand model that has palm arch functionality. In this paper we preset an optimization-based inverse kinematics approach to position this 25 DOF hand locally with respect to the wrist instead of the traditional Moore-Penrose pseudo-inverse and experiment methods. The hypothesis is that human performance measures govern the configuration and motion of the hand. We also propose contact force and joint torque prediction. The exposition addresses (1) the determination whether a point is reachable (i.e., is it within the reach envelope), (2) the prediction of a finger posture for a given target point, (3) given the finger contact force analyzing the joint torque, and (4) given joint torque analyzing finger contact force. We illustrate the methodology through examples.