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A functional anatomy based kinematic human hand model with simple size adaptation

van der Hulst, Frank P. J and Schätzle, Simon and Preusche, Carsten and Schiele, André (2012) A functional anatomy based kinematic human hand model with simple size adaptation. IEEE International Conference on Robotics and Automation (ICRA), 14.-18. Mai 2012, St. Paul, Minnesota, USA.



For the purpose of ergonomic human-machine interaction and geometrical design of hand held haptic devices, a kinematic model that represents the functional anatomy of different human hands is desired. It is the goal of this paper to present a kinematic hand model that is based on human physiology and that is easily adaptable to represent various real human hand sizes. This is achieved by exploiting body proportions to derive finger segment lengths from the hand length. A partial hand model validation, involving index- and middle finger validation using a group of subjects, indicates that the use of body proportions offers a good estimate of finger length from a given hand length. Model estimated fingertip positions over a motion trajectory remain within reasonable limits when compared with experimental data for this subject group. The model is promising for usage in practical situations since only hand length, which is easy to measure or to obtain from literature, is required as an input. Phalange lengths, which are sparsely available from literature and difficult to measure, are generated by the model.

Item URL in elib:https://elib.dlr.de/76346/
Document Type:Conference or Workshop Item (Paper)
Title:A functional anatomy based kinematic human hand model with simple size adaptation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
van der Hulst, Frank P. JFrank.van.der.Hulst (at) esa.intUNSPECIFIED
Schätzle, SimonSimon.Schaetzle (at) dlr.deUNSPECIFIED
Preusche, CarstenCarsten.Preusche (at) dlr.deUNSPECIFIED
Schiele, AndréAndre.Schiele (at) esa.intUNSPECIFIED
Date:May 2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 5123-5129
Keywords:Grasping, hand kinematics
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:St. Paul, Minnesota, USA
Event Type:international Conference
Event Dates:14.-18. Mai 2012
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 - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Schätzle, Simon
Deposited On:10 Aug 2012 10:13
Last Modified:31 Jul 2019 19:36

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