Control-Oriented Finger Kinematic Model: Geometry-Based Approach
Control-Oriented Finger Kinematic Model: Geometry-Based Approach
复制标题
面向控制的手指运动学模型：基于几何的方法
DOI：
10.1115/1.4044601
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
N. Robson
中科院分区：
文献类型：
--
作者：
J. Won;N. Robson
本文提出了一种新的手指运动学模型的人手配置，它适用于机器人手指系统和假手实现自然的人的手指运动。所提出的手指模型是基于手形抓取虚拟圆柱形物体的几何形状推导出来的。该模型能够用一个参数描述三自由度长手指关节的自然转动形态，圆柱形物体的半径。实验结果表明，该模型能较好地模拟人体手指的自然运动。使用所提出的模型，讨论了如何实现多指协调，使特定的任务手部动作或特定的手部动作的姿势。由于该模型的简单性，定义关节角度配置在一个长的手指由一个单一的参数，所提出的模型和多指协调的概念讨论的组合可以被看作是一个包容性的框架，在类人手系统的设计和控制。本文是第一步，探索未来的新的联合设计控制策略的欠驱动假肢和动力矫形装置的自然运动的基础上，笛卡尔空间轨迹跟踪和关节角度协调的发展。
This paper proposes a novel finger kinematic model for human hand configurations, which applies to the realization of a naturalistic human finger motion for robotic finger systems and artificial hands. The proposed finger model is derived based on the geometry of a hand shape grasping a virtual cylindrical object. The model is capable of describing the natural rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e., the radius of a cylindrical object. Experimental validation of the model shows that it can simulate closely naturalistic human finger movements. With the use of the proposed model, discussions were made on how to achieve multifinger coordination that makes task-specific hand movements or a posture for specific hand actions. Due to the simplicity of the model to define joints angle configuration in a long finger by a single parameter, the combination of the proposed model and the multifinger coordination concept discussed can be seen as an inclusive framework in human-like hand systems design and control. This paper is the first step toward exploring future novel combined design–control strategies for the development of under-actuated prosthetic and powered orthotic devices for the naturalistic motion that are based on both Cartesian space trajectory tracking and joint angle coordination.