TY - GEN
T1 - Kinematic synthesis for smart hand prosthesis
AU - Duraisamy, Karthikeyan
AU - Isebor, Obiajulu
AU - Perez, Alba
AU - Schoen, Marco P.
AU - Subbaram Naidu, D.
PY - 2006/12/22
Y1 - 2006/12/22
N2 - 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.
AB - 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.
KW - Artificial hands
KW - Biomechanical modeling
KW - EMG-based interfaces
KW - Models of animal/human manipulation
KW - Prostheses control systems
UR - http://www.scopus.com/inward/record.url?scp=33845581427&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845581427&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639245
DO - 10.1109/BIOROB.2006.1639245
M3 - Conference contribution
AN - SCOPUS:33845581427
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 1135
EP - 1140
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -