In the last years, the number of projects studying the human hand from the robotic point of view has increased rapidly, due to the growing interest in academic and industrial applications. Nevertheless, the complexity of the human hand, given its large number of degrees of freedom (DoF) within a significantly reduced space requires an exhaustive analysis, before proposing any applications. The aim of this paper is to provide a complete summary of the kinematic and dynamic characteristics of the human finger as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating the human hand shape and functionality. Kinematics and dynamics are presented for a generic finger; with anthropometric data and the dynamics equations, simulations were performed to understand its behavior.

Human Hand: Kinematics and Dynamics / CHEN CHEN, Fai; Appendino, Silvia; Battezzato, Alessandro; Favetto, Alain; SEYED MOUSAVI, MOHAMAD MEHDI; Pescarmona, Francesco - In: New Advances in Mechanism, Transmissions and ApplicationsSTAMPA. - [s.l] : Springer New York Heidelberg Dordrecht London, 2013. - ISBN 9789400774841. - pp. 115-122 [10.1007/978-94-007-7485-8_15]

Human Hand: Kinematics and Dynamics

CHEN CHEN, FAI;APPENDINO, Silvia;BATTEZZATO, ALESSANDRO;FAVETTO, ALAIN;SEYED MOUSAVI, MOHAMAD MEHDI;PESCARMONA, FRANCESCO
2013

Abstract

In the last years, the number of projects studying the human hand from the robotic point of view has increased rapidly, due to the growing interest in academic and industrial applications. Nevertheless, the complexity of the human hand, given its large number of degrees of freedom (DoF) within a significantly reduced space requires an exhaustive analysis, before proposing any applications. The aim of this paper is to provide a complete summary of the kinematic and dynamic characteristics of the human finger as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating the human hand shape and functionality. Kinematics and dynamics are presented for a generic finger; with anthropometric data and the dynamics equations, simulations were performed to understand its behavior.
9789400774841
New Advances in Mechanism, Transmissions and Applications
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2519067
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