The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands
The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands
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DOI：
10.1109/tsmc.2016.2531679
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发表时间：
2017-07
期刊：
影响因子：
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通讯作者：
Giuseppe Cotugno;K. Althoefer;T. Nanayakkara
中科院分区：
文献类型：
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作者：
Giuseppe Cotugno;K. Althoefer;T. Nanayakkara
众所周知，相反的拇指赋予人类先进的操纵能力。然而，这样的特征没有统计量化，并且它的表示在机器人技术中还没有正式解决。本文研究了人类对侧拇指的位移是否是形成抓握的决定因素。通过对GRASP数据库中运动捕捉数据的变异性进行统计分析，我们发现拇指的位移对抓握的形成起着主导作用，独立于被抓握的特定物体。此外，我们绘制并比较了人类拇指和两种最先进的机器人拇指的可达性空间：1）阴影和2）iCub手。我们的结论是，机器人拇指的运动学不均匀跨越人类拇指的可达性空间，有利于精确把握运动。因此，我们的研究结果有助于机器人手的最佳建模的讨论。
It is well acknowledged that the opposing thumb granted humans advanced manipulation capabilities. However, such a feature is not statistically quantified, and its representation is not formally addressed in robotics yet. This paper studies whether the displacement of the opposing thumb in humans is a determining factor for shaping the grip. Using statistical analysis of the variability of motion capture data from the GRASP database, we found that the displacement of the thumb plays a leading role on the shaping of the grip, independently from the specific object being grasped. Furthermore, we map and compare the reachability spaces of the human thumb and two state-of-the-art robotic thumbs: 1) the shadow and 2) the iCub hands. We conclude that the kinematics of robotic thumbs does not evenly span the reachability space of the human thumb, favoring precision grasping motions. Hence, our findings contribute to the discussion of the optimal modeling of robotic hands.