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Human hand modelling: kinematics, dynamics, applications

Gustus, Agneta and Stillfried, Georg and Visser, Judith and Jörntell, Henrik and van der Smagt, Patrick (2012) Human hand modelling: kinematics, dynamics, applications. Biological Cybernetics. DOI: 10.1007/s0042201205324.

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Official URL: http://dx.doi.org/10.1007/s00422-012-0532-4


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 dynamics 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.

Document Type:Article
Title:Human hand modelling: kinematics, dynamics, applications
AuthorsInstitution or Email of Authors
Gustus, Agnetaagneta.gustus@brml.de
Stillfried, Georggeorg.stillfried@dlr.de
Visser, Judithj.m.a.visser@tudelft.nl
Jörntell, Henrikhenrik.jorntell@med.lu.se
van der Smagt, Patricksmagt@dlr.de
Journal or Publication Title:Biological Cybernetics
Refereed publication:Yes
In Open Access:No
In ISI Web of Science:Yes
Keywords:Human hand model; Hand kinematics; Muscle dynamics; Tendon dynamics; Cadaver studies
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Georg Stillfried
Deposited On:13 Dec 2012 16:18
Last Modified:12 Dec 2013 21:51

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