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Kinematic Analysis of the Human Thumb with Foldable Palm

Nanayakkara, Visakha, Ataka, Ahmad, Venetsanos, Demetrios, Duran, Olga, Vitzilaios, Nikolaos, Nanayakkara, Thrishantha and Sahinkaya, Necip (2016) Kinematic Analysis of the Human Thumb with Foldable Palm. In: 17th Towards Autonomous Robotic Systems (TAROS-16); 28–30 June 2016, Sheffield, UK. (Lecture Notes in Computer Science, no. 9716) ISSN (print) 0302-9743 ISBN 9783319403786

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Abstract

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.

Item Type: Conference or Workshop Item (Paper)
Event Title: 17th Towards Autonomous Robotic Systems (TAROS-16)
Additional Information: Published in: Alboul, L., Damian, D. and Aitken, J.M. (2016) Towards Autonomous Robotic Systems (Lecture Notes in Computer Science, No. 9716).
Physical Location: 10.1007/978-3-319-40379-3_23
Uncontrolled Keywords: Thumb kinematics, Foldable palm, Joint angle correlations, Torque correlations
Research Area: Mechanical, aeronautical and manufacturing engineering
Faculty, School or Research Centre: Faculty of Science, Engineering and Computing
Faculty of Science, Engineering and Computing > School of Mechanical and Automotive Engineering
Depositing User: Kevin Hiscox
Date Deposited: 22 Aug 2016 07:46
Last Modified: 22 Aug 2016 07:46
URI: http://eprints.kingston.ac.uk/id/eprint/35652

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