A finger motion model for reach and grasp
A finger motion model for reach and grasp
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DOI：
10.1016/j.ergon.2010.11.001
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发表时间：
2011-01-01
影响因子：
3.1
通讯作者：
Armstrong, Thomas J.
中科院分区：
文献类型：
--
作者：
Bae, Sungchan;Armstrong, Thomas J.
本研究旨在开发一种描述人类手指运动的模型，用于模拟对选定物体和任务的触及和抓取。当六名受试者达到 20-40 厘米并抓住不同方向（垂直/轴向）的圆柱形手柄（1.3-10.2 厘米 D）时，测量了他们的手指关节角度及其变化的时间。多元回归分析的经验结果作为输入，允许四阶多项式预测每个手指关节的运动。所提出的模型与观测结果吻合良好，在所有考虑的条件下，确定系数为 0.54 至 1，合理误差为 0.04 度至 5.44 度。所提出的手指运动模型在现有的运动学手模型中实现，采用接触算法来精确预测抓握姿势，并通过以图形方式显示手的张开和闭合来说明其预测能力。与行业的相关性：需要在伸手和抓握期间的手指关节运动来预测（1）肌腱偏移，以研究与工作相关的肌肉骨骼疾病，（2）手部所需的空间，（3）手指在工作物体上的位置，以及（4）手部抓握姿势和力量。 (C) 2010 Elsevier B.V. 保留所有权利。
This study aimed to develop a model that describes human finger motion for simulation of reach and grasp for selected objects and tasks. Finger joint angles and timing of their changes were measured for six subjects as they reached 20-40 cm and grasped cylindrical handles (1.3-10.2 cm D) of varying orientation (vertical/axial). The empirical results from multiple regression analyses served as inputs to allow a fourth order polynomial to predict motion of each finger joint. The proposed model showed good fit with observations, with high coefficients of determination from 0.54 to 1 and reasonable errors from 0.04 degrees to 5.44 degrees for all conditions considered. The proposed finger motion model was implemented in an existing kinematic hand model to employ a contact algorithm for refined prediction of grip posture and to illustrate its predictive power by graphically displaying the opening and closing of the hand.Relevance to industry: Finger joint motions during reach and grasp are needed for prediction of (1) tendon excursions for study of work-related musculoskeletal disorders, (2) required space for the hand, (3) finger locations on work objects, and (4) hand grip postures and strength. (C) 2010 Elsevier B.V. All rights reserved.