楕円型多関節構成に基づく人間の指の運動学モデリング手法
A Novel Approach to Model the Kinematics of Human Fingers Based on an Elliptic Multi-Joint Configuration
指関節の実際の動きが円軌道ではなく楕円軌道に近いことに着目し、軟組織の影響を考慮した新しい指の運動学モデルを提案し、従来の回転関節モデルより人間の指先軌道を高精度に再現できることを示した。
著者: Zeyu Wu, Luiza Labazanova, Peng Zhou, David Navarro-Alarcon
分類: cs.RO
原文アブストラクト
In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the relative movement of the bones. Commonly used assumption of circular trajectories simplifies the designing process but leads to divergence with the actual hand behavior. The advantages of the proposed model are demonstrated through the comparison with the conventional revolute joint model. Conducted simulations and experiments validate designed forward and inverse kinematic algorithms. Obtained results show a high performance of the model in mimicking the human fingertip motion trajectory.
