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MRI-based skeletal hand movement model

Stillfried, Georg und Hillenbrand, Ulrich und Settles, Marcus und van der Smagt, Patrick (2013) MRI-based skeletal hand movement model. In: The Human Hand: A Source of Inspiration for Robotic Hands Springer Tracts in Advanced Robotics. Springer. (im Druck)

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The kinematics of the human hand is 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 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. The mean discrepancies from a hand model built from MRI data are compared against a hand model built from optical motion capture data.

Dokumentart:Beitrag in einem Lehr- oder Fachbuch
Titel:MRI-based skeletal hand movement model
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iD
Stillfried, Georggeorg.stillfried@dlr.deNICHT SPEZIFIZIERT
Hillenbrand, Ulrichulrich.hillenbrand@dlr.deNICHT SPEZIFIZIERT
Settles, Marcusmsettles@tum.deNICHT SPEZIFIZIERT
Erschienen in:The Human Hand: A Source of Inspiration for Robotic Hands
Referierte Publikation:Ja
In Open Access:Nein
In ISI Web of Science:Nein
HerausgeberInstitution und/oder E-Mail-Adresse der Herausgeber
Balasubramanian, RaviNICHT SPEZIFIZIERT
Name der Reihe:Springer Tracts in Advanced Robotics
Status:im Druck
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 - Vorhaben Mehrfingrige Roboterhände (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung
Hinterlegt von: Stillfried, Georg
Hinterlegt am:22 Aug 2013 13:16
Letzte Änderung:09 Jan 2014 16:32

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