elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Human hand kinematics based on MRI imaging

Stillfried, Georg and van der Smagt, Patrick (2009) Human hand kinematics based on MRI imaging. In: Understanding the Human Hand for Advancing Robotic Manipulation Workshop at Robotics: Science and Systems 2009. Robotics: Science and Systems (RSS) 2009, Workshop "Understanding the Human Hand for Advancing Robotic Manipulation", Seattle, WA, USA.

[img] PDF
248kB

Abstract

Anthropomorphic robot hands have come to a technical level where understanding exact human hand kinematics becomes relevant, e.g. the hand/arm system that is presently being developed at DLR. Human hand kinematics have been investigated through cadaver hands and optical motion tracking of surface markers. A problem with the former is that tissue properties might be altered due to tissue necrosis. With the latter, the motion of the skin relative to the bones leads to so called soft tissue artifacts (STA) that negatively influence the quality of the results. To allow in vivo measurements and to avoid STA, we recorded finger postures by magnetic resonance imaging (MRI). We used a method similar to the one described by Miyata et al. in 2005, but with a much larger number of hand postures, resulting in a model with multi-degree-of-freedom (multi-DoF) joints.

Item URL in elib:https://elib.dlr.de/78585/
Document Type:Conference or Workshop Item (Poster)
Title:Human hand kinematics based on MRI imaging
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stillfried, Georggeorg.stillfried (at) dlr.deUNSPECIFIED
van der Smagt, Patricksmagt (at) dlr.deUNSPECIFIED
Date:2009
Journal or Publication Title:Understanding the Human Hand for Advancing Robotic Manipulation Workshop at Robotics: Science and Systems 2009
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Editors:
EditorsEmail
Balasubramanian, Ravi UNSPECIFIED
Matsuoka, Yoky UNSPECIFIED
Status:Published
Keywords:MRI; Human Hand Kinematics
Event Title:Robotics: Science and Systems (RSS) 2009, Workshop "Understanding the Human Hand for Advancing Robotic Manipulation"
Event Location:Seattle, WA, USA
Event Type:international Conference, Workshop
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 (until 2012)
Deposited By: Stillfried, Georg
Deposited On:13 Dec 2012 16:17
Last Modified:31 Jul 2019 19:38

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.