TY - GEN
T1 - Kinematic analysis of the human thumb with foldable palm
AU - Nanayakkara, Visakha
AU - Ataka, Ahmad
AU - Venetsanos, Demetrios
AU - Duran, Olga
AU - Vitzilaios, Nikolaos
AU - Nanayakkara, Thrishantha
AU - Sahinkaya, M. Necip
PY - 2016
Y1 - 2016
N2 - There have been numerous attempts to develop anthropomorphic robotic hands with varying levels of dexterous capabilities. However, these robotic hands often suffer from a lack of comprehensive understanding of the musculoskeletal behavior of the human thumb with integrated foldable palm. This paper proposes a novel kinematic model to analyze the importance of thumb-palm embodiment in grasping objects. The model is validated using human demonstrations for five precision grasp types across five human subjects. The model is used to find whether there are any co-activations among the thumb joint angles and muskuloskeletal parameters of the palm. In this paper we show that there are certain pairs of joints that show stronger linear relationships in the torque space than in joint angle space. These observations provide useful design guidelines to reduce control complexity in anthropomorphic robotic thumbs.
AB - There have been numerous attempts to develop anthropomorphic robotic hands with varying levels of dexterous capabilities. However, these robotic hands often suffer from a lack of comprehensive understanding of the musculoskeletal behavior of the human thumb with integrated foldable palm. This paper proposes a novel kinematic model to analyze the importance of thumb-palm embodiment in grasping objects. The model is validated using human demonstrations for five precision grasp types across five human subjects. The model is used to find whether there are any co-activations among the thumb joint angles and muskuloskeletal parameters of the palm. In this paper we show that there are certain pairs of joints that show stronger linear relationships in the torque space than in joint angle space. These observations provide useful design guidelines to reduce control complexity in anthropomorphic robotic thumbs.
KW - Foldable palm
KW - Joint angle correlations
KW - Thumb kinematics
KW - Torque correlations
UR - http://www.scopus.com/inward/record.url?scp=84977518691&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-40379-3_23
DO - 10.1007/978-3-319-40379-3_23
M3 - Conference proceeding
AN - SCOPUS:84977518691
SN - 9783319403786
VL - 9716
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 226
EP - 238
BT - Towards Autonomous Robotic Systems - 17th Annual Conference, TAROS 2016, Proceedings
PB - Springer-Verlag London Ltd
T2 - 17th Annual Conference on Towards Autonomous Robotic Systems
Y2 - 26 June 2016 through 1 July 2016
ER -