Constraint Study for a Hand Exoskeleton : Human Hand Kinematics and Dynamics
Joint Authors
Favetto, Alain
Chen Chen, Fai
Battezzato, Alessandro
Pescarmona, Francesco
Mousavi, Mehdi
Appendino, Silvia
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-09-09
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
In the last few 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 hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating the human hand shape and functionality.
A collection of data and constraints relevant to hand movements is presented, and the direct and inverse kinematics are solved for all the fingers as well as the dynamics; anthropometric data and dynamics equations allow performing simulations to understand the behavior of the finger.
American Psychological Association (APA)
Chen Chen, Fai& Appendino, Silvia& Battezzato, Alessandro& Favetto, Alain& Mousavi, Mehdi& Pescarmona, Francesco. 2013. Constraint Study for a Hand Exoskeleton : Human Hand Kinematics and Dynamics. Journal of Robotics،Vol. 2013, no. 2013, pp.1-17.
https://search.emarefa.net/detail/BIM-507450
Modern Language Association (MLA)
Chen Chen, Fai…[et al.]. Constraint Study for a Hand Exoskeleton : Human Hand Kinematics and Dynamics. Journal of Robotics No. 2013 (2013), pp.1-17.
https://search.emarefa.net/detail/BIM-507450
American Medical Association (AMA)
Chen Chen, Fai& Appendino, Silvia& Battezzato, Alessandro& Favetto, Alain& Mousavi, Mehdi& Pescarmona, Francesco. Constraint Study for a Hand Exoskeleton : Human Hand Kinematics and Dynamics. Journal of Robotics. 2013. Vol. 2013, no. 2013, pp.1-17.
https://search.emarefa.net/detail/BIM-507450
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-507450