Stillfried, Georg und Hillenbrand, Ulrich und Settles, Marcus und van der Smagt, Patrick (2012) MRI-based skeletal hand movement model. In: The Human Hand: A Source of Inspiration for Robotic Hands Springer Tracts in Advanced Robotics. Springer.
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Kurzfassung
The kinematics of the human hand are optimal with respect to force distribution during pinch as well as power grasp, reducing the tissue strain when exerting forces through opposing fingers and optimising contact faces. Quantifying this optimality is of key importance when constructing biomimetic robotic hands, but understanding the exact human finger motion is also an important asset in, e.g., tracking finger movement during manipulation. The goal of the method presented here is to determine the precise orientations and positions of the axes of rotation of the finger joints by using suitable magnetic resonance imaging (MRI) images of a hand in various postures. The bones are segmented from the images, and their poses are estimated with respect to a reference posture. The axis orientations and positions are fitted numerically to match the measured bone motions. Eight joint types with varying degrees of freedom (DoF) are investigated for each joint, and the joint type is selected by setting a limit on the rotational and translational mean discrepancy. The method results in hand models with differing accuracy and complexity, of which three examples, ranging from 22 to 33 DoF, are presented. The ranges of motion of the joints show some consensus and some disagreement with data from literature. One of the models is published as an implementation for the free OpenSim simulation environment.
elib-URL des Eintrags: | https://elib.dlr.de/76337/ | ||||||||||||||||||||
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Dokumentart: | Beitrag im Sammelband | ||||||||||||||||||||
Titel: | MRI-based skeletal hand movement model | ||||||||||||||||||||
Autoren: |
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Datum: | 2012 | ||||||||||||||||||||
Erschienen in: | The Human Hand: A Source of Inspiration for Robotic Hands | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Herausgeber: |
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Verlag: | Springer | ||||||||||||||||||||
Name der Reihe: | Springer Tracts in Advanced Robotics | ||||||||||||||||||||
Status: | akzeptierter Beitrag | ||||||||||||||||||||
Stichwörter: | human hand, robot hand, hand kinematics, MR imaging, 3D object localisation | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - RMC - Mechatronik und Telerobotik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Stillfried, Georg | ||||||||||||||||||||
Hinterlegt am: | 03 Aug 2012 10:21 | ||||||||||||||||||||
Letzte Änderung: | 07 Feb 2013 19:36 |
Verfügbare Versionen dieses Eintrags
- MRI-based skeletal hand movement model. (deposited 03 Aug 2012 10:21) [Gegenwärtig angezeigt]
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