Abril 2015 vol. 1 num. 1 - Congresso Nacional de Matemática Aplicada à Indústria

Artigo Completo - Open Access.

Idioma principal | Segundo idioma

KINEMATIC MODELING OF A MULTI-FINGERED HAND PROSTHESIS FOR MANIPULATION TASKS

KINEMATIC MODELING OF A MULTI-FINGERED HAND PROSTHESIS FOR MANIPULATION TASKS

Stoppa, Marcelo H. ; Carvalho, João Carlos Mendes ;

Artigo Completo:

Several different models represent the human hand. These describe hand models with up to 26 degrees of freedom (DoFs) which are needed to obtain an efficient representation of manipulation tasks by prosthesis. However, a great number of degrees of freedom leads to a complex control system and necessitate simplification. Consequently simplified models involve errors when is needed reconstruct hand’s postures in daily tasks. This paper analyses a model proposed by InMoov Open Source project whose robotic hand has five fingers, able to perform palmar arc, in a total of 17 DoFs. Here is described a complete kinematic model to this artificial hand, where the model equations are calculated by means Denavit-Hartenberg coordinates. The model is able to perform just flexion joints movements, where the thumb, index and middle fingers have 3 links and 3 flexion joints. The ring and little fingers have 4 links and 4 flexion joints that permit simulation in palmar arc condition. After this some computational simulations are realized to compare the real model and the mathematical model under some simple grasping tasks.

Artigo Completo:

Several different models represent the human hand. These describe hand models with up to 26 degrees of freedom (DoFs) which are needed to obtain an efficient representation of manipulation tasks by prosthesis. However, a great number of degrees of freedom leads to a complex control system and necessitate simplification. Consequently simplified models involve errors when is needed reconstruct hand’s postures in daily tasks. This paper analyses a model proposed by InMoov Open Source project whose robotic hand has five fingers, able to perform palmar arc, in a total of 17 DoFs. Here is described a complete kinematic model to this artificial hand, where the model equations are calculated by means Denavit-Hartenberg coordinates. The model is able to perform just flexion joints movements, where the thumb, index and middle fingers have 3 links and 3 flexion joints. The ring and little fingers have 4 links and 4 flexion joints that permit simulation in palmar arc condition. After this some computational simulations are realized to compare the real model and the mathematical model under some simple grasping tasks.

Download (PDF)

Palavras-chave: Kinematic, Prosthesis, Hand, Modelling, InMoov, Kinematic, Prosthesis, Hand, Modelling, InMoov,

Palavras-chave: ,

DOI: 10.5151/mathpro-cnmai-0140

Referências bibliográficas
  • [1] Allin, S., Eckel, E., Markham, H., e Brewer, B. 2010. Recent trends in the development and evaluation of assistive robotic manipulation devices. Phys. Med. Rehabil. Clin. A. Am., 50, 59–77.
  • [2] Baril, M., Laliberté, T., Gosselin, C., e Routhier, F. 2013. On the design of a mechanically programmable underactuated anthropomorphic prosthetic gripper. vol. 135.
  • [3] Belter, J., Segil, J., Dollar, M., e Weir, R. 201 Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review. JRRD - Journal of Rehabilitation Research Andamp; Development, 50(5), 599–618.
  • [4] Craig, J. 200 Introduction to Robotics – Mechanics and Control. USA: Prentice Hall. 3rd Edition.
  • [5] Cutkosky, M. 1989. On grasp choice, grasp models, and the design of hands for macufacturing tasks. IEEE Transactions on Robotics and Automation, 5(3), 269–278.
  • [6] Dalley, S., Wiste, T., Withrow, T., e Goldfarb, M. 2009. Design of a multifunctional anthropomorphic prosthetic hand with extrinsic actuation. IEEE/ASME Transactions on Mechatronics, 14(6), 699–70
  • [7] Dechev, V., Cleghorn, W., e S., N. 2001. Multiple finger, passive adaptive grasp prosthetic hand. Mechanism and Machine Theory, 36, 1157–1173.
  • [8] Du, H., e Charbon, E. 2007. 3d hand model fitting for virtual keyboard system.
  • [9] Gaiser, I., Pylatiuk, C., Schulz, S., Kargov, A., Oberle, R., e Werner, T. 200 The fluidhand iii: A multifunctional prosthetic hand. Journal of Prosthetics and Orthics, 21(2), 1–6.
  • [10] Gosselin, C., Pelletier, F., e Laliberté, T. 2008. An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator.
  • [11] Ingram, J., Kording, K., Howard, I., e Wolpert, D. 2008. The statistics of natural hand movements. Exp. Brain Res., 188, 223–236.
  • [12] Khalil, W., e Kleinfinger, J. 1986. A new geometric rotation for open closed–loop robots. IEEE International Conference on Robotics and Automation, 3(1), 1174–1179.
  • [13] Langevin, G. 2014. Inmoov. URL http://www.inmoov.fr/project/
  • [14] Smagt, P., Grebenstein, M., Urbanek, H., Fligge, N., Strohmayr, M., e Stillfried, G. 2009. Robotics of human movements. Journal of Physiology, (103), 119–132.
  • [15] Tarzimi, W., Elamvazuthi, I., e Begam, M. 2009. Kinematic and dynamic modeling of a multi-fingered robot hand. International Journal of Basics Andamp; Applied Sciences, vol. 09, (pp. 61–68).
Como citar:

Stoppa, Marcelo H.; Carvalho, João Carlos Mendes; "KINEMATIC MODELING OF A MULTI-FINGERED HAND PROSTHESIS FOR MANIPULATION TASKS", p. 779-788 . In: Anais do Congresso Nacional de Matemática Aplicada à Indústria [= Blucher Mathematical Proceedings, v.1, n.1]. São Paulo: Blucher, 2015.
ISSN em b-reve, DOI 10.5151/mathpro-cnmai-0140

últimos 30 dias | último ano | desde a publicação


downloads


visualizações


indexações