4 research outputs found
Kinematic synthesis for smart hand prosthetics
The dream of a bionic replacement appendage
is becoming reality through the use of mechatronic prostheses
that utilize the body’s myoelectric signals. This paper presents
a process to accurately capture the motion of the human hand
joints; the obtained information is to be used in conjunction
with myoelectric signal identification for motion control.
In this work, the human hand is modeled as a set of links
connected by joints, which are approximated to standard
revolute joints. Using the methods of robotics, the motion
of each finger is described as a serial robot, and expressed
as Clifford algebra exponentials. This representation allows
us to use the model to perform kinematic synthesis, that is,
to adapt the model to the dimensions of real hands and to
obtain the angles at each joint, using visual data from real
motion captured with several cameras.
The goal is to obtain an adaptable motion tracking system
that can follow as many different motions as possible with
sufficient accuracy, in order to relate the individual motions
to myoelectric signals in future work.Postprint (author’s final draft
Kinematic synthesis for smart hand prosthetics
The dream of a bionic replacement appendage
is becoming reality through the use of mechatronic prostheses
that utilize the body’s myoelectric signals. This paper presents
a process to accurately capture the motion of the human hand
joints; the obtained information is to be used in conjunction
with myoelectric signal identification for motion control.
In this work, the human hand is modeled as a set of links
connected by joints, which are approximated to standard
revolute joints. Using the methods of robotics, the motion
of each finger is described as a serial robot, and expressed
as Clifford algebra exponentials. This representation allows
us to use the model to perform kinematic synthesis, that is,
to adapt the model to the dimensions of real hands and to
obtain the angles at each joint, using visual data from real
motion captured with several cameras.
The goal is to obtain an adaptable motion tracking system
that can follow as many different motions as possible with
sufficient accuracy, in order to relate the individual motions
to myoelectric signals in future work