Modeling and parameter estimation of the human index finger

TitleModeling and parameter estimation of the human index finger
Publication TypeConference Paper
Year of Publication1994
AuthorsRohling, R. N., and J. M. Hollerbach
Conference NameRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Pagination223 -230 vol.1
Date Publishedmay.
Keywordsbiomechanics, 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

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


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