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| Title | Modeling and parameter estimation of the human index finger |
| Publication Type | Conference Paper |
| Year of Publication | 1994 |
| Authors | Rohling, R. N., and J. M. Hollerbach |
| Conference Name | Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on |
| Pagination | 223 -230 vol.1 |
| Date Published | may. |
| Keywords | biomechanics, calibration, dextrous robotic hands, human hand model, human index finger, identification, kinematic model, kinematics, manipulators, model reduction, open-loop kinematic calibration, parameter estimation, parameter scaling, physiological models, pose set selection, reduced order systems, singular value decomposition, teleoperation |
| Abstract | Precise teleoperation of dextrous robotic hands by hand masters requires an accurate human hand model. A kinematic model of a human index finger is developed as an example for human hand modeling. The parameters of the model are determined by open-loop kinematic calibration. Singular value decomposition is used as a tool for analyzing the kinematic model and the identification process. Accurate and reliable results are obtained only when the numerical condition is minimized through parameter scaling, model reduction and pose set selection. The identified kinematic parameters show the kinematic model and calibration procedure have an accuracy on the order of a few millimetres |
| URL | http://dx.doi.org/10.1109/ROBOT.1994.350984 |
| DOI | 10.1109/ROBOT.1994.350984 |