A kinematic thumb model for the ACT hand

Chang, Lillian Y.; Matsuoka, Yoky

doi:10.1109/robot.2006.1641840

Cited by 59 publications

(43 citation statements)

References 20 publications

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“…The hand dimensions and joint ranges of motion (ROM) are modeled after a 50% percentile male hand [34]. The thumb joint locations and axes of rotation were based upon anthropometric data and modeling studies of the thumb [35], [36].…”

Section: Testing Interface and Virtual Hand Modelmentioning

confidence: 99%

Design and Validation of a Morphing Myoelectric Hand Posture Controller Based on Principal Component Analysis of Human Grasping

Segil¹,

Weir

2014

IEEE Trans. Neural Syst. Rehabil. Eng.

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An ideal myoelectric prosthetic hand should have the ability to continuously morph between any posture like an anatomical hand. This paper describes the design and validation of a morphing myoelectric hand controller based on principal component analysis of human grasping. The controller commands continuously morphing hand postures including functional grasps using between two and four surface electromyography (EMG) electrodes pairs. Four unique maps were developed to transform the EMG control signals in the principal component domain. A preliminary validation experiment was performed by 10 nonamputee subjects to determine the map with highest performance. The subjects used the myoelectric controller to morph a virtual hand between functional grasps in a series of randomized trials. The number of joints controlled accurately was evaluated to characterize the performance of each map. Additional metrics were studied including completion rate, time to completion, and path efficiency. The highest performing map controlled over 13 out of 15 joints accurately.

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Section: Testing Interface and Virtual Hand Modelmentioning

confidence: 99%

Design and Validation of a Morphing Myoelectric Hand Posture Controller Based on Principal Component Analysis of Human Grasping

Segil¹,

Weir

2014

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…In order to be able to study the human hand function, without the needs of cadavers, an Anatomically Correct Testbed (ACT) was designed (Chang and Matsuoka 2006;Wilkinson et al 2003). The test bed tries to mimic parts of the human hand apparatus as close as possible in an attempt at replicating the biomechanical function of the hand.…”

Section: Forward Dynamic Modelsmentioning

confidence: 99%

Human hand modelling: kinematics, dynamics, applications

et al. 2012

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An overview of mathematical modelling of the human hand is given. We consider hand models from a specific background: rather than studying hands for surgical or similar goals, we target at providing a set of tools with which human grasping and manipulation capabilities can be studied, and hand functionality can be described. We do this by investigating the human hand at various levels: (1) at the level of kinematics, focussing on the movement of the bones of the hand, not taking corresponding forces into account; (2) at the musculotendon structure, i.e. by looking at the part of the hand generating the forces and thus inducing the motion; and (3) at the combination of the two, resulting in hand dynam- ics as well as the underlying neurocontrol. Our purpose is to not only provide the reader with an overview of current human hand modelling approaches but also to fill the gaps with recent results and data, thus allowing for an encompassing picture.

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“…Previous approaches followed the objective of creating an anatomically correct system (eg. ACT hand [7]). They mimicked the configuration of the bones and of the tendons to match very closely the one of humans.…”

Section: Introductionmentioning

confidence: 99%

The thumb: guidelines for a robotic design

Chalon

Grebenstein

Wimböck

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The impressive manipulation capabilities of the human hand are undoubtedly related to the thumb opposition. Such a versatility is highly desirable in the context of humanoid robots, in particular when performing object manipulation. Biomechanical data, surgery procedures and rehabilitation surveys represent an excellent base from which a robotic design can be inferred. This knowledge must be understood to identify the properties required for manipulation skills, and especially, to obtain a holistic view of the thumb functionality. Several designs have been realized, that concentrated on biomimetism or on classical mechanism designs. Therefore, it is currently difficult for designers to obtain a clear overview of the properties required for a functional robot thumb.In the present case, a robotic hand with size, forces, velocity and shape comparable to the human ones, is envisioned. Unlike most of robotic designs -where the fingers are modular and the thumb is simply a finger placed in opposition -the thumb benefits from an intensive functional analysis. This paper gathers anatomy, surgery and rehabilitation data and identifies the properties required for human like manipulation. Based on this synergy, guidelines are presented that are fused and applied to the hand design of the Integrated Hand arm project of DLR.

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A kinematic thumb model for the ACT hand

Cited by 59 publications

References 20 publications

Design and Validation of a Morphing Myoelectric Hand Posture Controller Based on Principal Component Analysis of Human Grasping

Design and Validation of a Morphing Myoelectric Hand Posture Controller Based on Principal Component Analysis of Human Grasping

Human hand modelling: kinematics, dynamics, applications

The thumb: guidelines for a robotic design

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