Kinematic Modelling of the Human Hand for Robotics

Kinematic Modelling of the Human Hand for Robotics
复制标题

机器人人手运动学建模

DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
G. Dominik
G. Dominik
中科院分区：
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文献类型：
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作者：
Graf von Stillfried;G. Dominik

文献摘要

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人形机械手的设计需要人手的运动模型。首次在磁共振成像（MRI）的基础上建立了完整的手部运动模型。将该模型应用于抓手的仿真。MRI和光学运动捕捉的表面标记（MoCap）进行比较，找出哪一个更适合运动学手建模。他们的表现同样出色。然而，可以使用皮肤运动模型进一步减少关节附近的动作捕捉误差约50%。
Human hand movement models are needed for the design of humanoid robotic hands. For the first time, a complete human hand movement model is created on the basis of magnetic resonance imaging (MRI). The model is applied in a simulation of grasps. MRI and optical motion capture of surface markers (MoCap) are compared to find out which is better suited for kinematic hand modelling. They perform similarly well. However, a skin movement model can be used to further reduce the MoCap errors near joints by about 50%.