Analysis of a large series of hand kinematics measurements

Kurzfassung

This thesis describes a unified model of human hand kinematics. Visual 3D measurements of human hand segment positions throughout different movements are used to determine Denavit-Hartenberg parameters and joint angles for both left and right hands of 110 subjects. These parameters are then transformed using PCA transformation to reveal the intrinsic dimensionality behind these parameters. PCA transforms of DH parameters and joint angles, both separately and together, show a significant correlation between parameters that can be exploited for dimensionality reduction.