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Kinematic Modelling of the Human Hand for Robotics

Stillfried, Georg (2015) Kinematic Modelling of the Human Hand for Robotics. Dissertation, Technische Universität München.

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Official URL: https://mediatum.ub.tum.de/?id=1244105


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%.

Item URL in elib:https://elib.dlr.de/100591/
Document Type:Thesis (Dissertation)
Title:Kinematic Modelling of the Human Hand for Robotics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Stillfried, Georggeorg.stillfried (at) dlr.deUNSPECIFIED
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:119
Keywords:Hand movement measurement and modelling
Institution:Technische Universität München
Department:Fakultät für Informatik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Stillfried, Georg
Deposited On:07 Dec 2015 16:14
Last Modified:31 Jul 2019 19:57

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