DocumentCode
3333831
Title
Simplified human hand models based on grasping analysis
Author
Cobos, Salvador ; Ferre, Manuel ; Aracil, Rafael
Author_Institution
Group of Robots & Intell. Machines, Univ. Politec. de Madrid, Madrid, Spain
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
610
Lastpage
615
Abstract
The purpose of this paper is to analyze in some depth the kinematic behaviour of the human hand, in order to obtain simplified human hand models with the minimum and optimal number of Degrees of Freedom (DoF), and thus achieving an efficient manipulation task. The statistical analysis is carried out using Principal Components Analysis (PCA). Power and precision grasps are obtained with the use of a Cyberglove and a human hand model with 24 DoF. Finally, these experiments are used to evaluate the best DoF for an appropriate manipulation.
Keywords
data gloves; dexterous manipulators; grippers; principal component analysis; cyberglove; grasping analysis; human hand kinematics; human hand model; principal components analysis; statistical analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5651479
Filename
5651479
Link To Document