Virtual human hand: wrist movements
Hand model with 25 Degrees of Freedom (DOF) was developed and implemented considering forward and inverse kinematics. However, the model, after some experience and use need to add new DOF. The proposed model is with 29 DOF, these new DOF serve to simulate the arc of the palm in the part of the wrist...
| Autores: | , , , , |
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| Tipo de recurso: | capítulo de libro |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/354018 |
| Acceso en línea: | https://hdl.handle.net/2117/354018 https://dx.doi.org/10.1007/978-3-030-79763-8_37 |
| Access Level: | acceso abierto |
| Palabra clave: | Biomechanics -- Computer simulation Wrist -- Mechanical properties -- Computer simulation Hands -- Mechanical properties -- Computer simulation Kinematics Degree of freedom Human hand Wrist 29 DOF Forward and inverse kinematics Biomecànica -- Simulació per ordinador Mans -- Propietats mecàniques -- Simulació per ordinador Canells -- Propietats mecàniques -- Simulació per ordinador Cinemàtica Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica |
| Sumario: | Hand model with 25 Degrees of Freedom (DOF) was developed and implemented considering forward and inverse kinematics. However, the model, after some experience and use need to add new DOF. The proposed model is with 29 DOF, these new DOF serve to simulate the arc of the palm in the part of the wrist. Once we locate a new coordinates system in the end of the radius close to scaphoid we apply Denavit-Hartenberg for all the joints. Forward and inverse kinematics will be applied. Ligaments to apply restrictions in wrist movement are included. This affect to the fingertip position. New model of virtual human hand with more accuracy in presented and validated with a Cyberglove™ and Leap Motion. |
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