Kinematic synthesis for smart hand prosthesis

Karthikeyan Duraisamy, Obiajulu Isebor, Alba Perez, Marco P. Schoen, D. Subbaram Naidu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages1135-1140
Number of pages6
DOIs
StatePublished - Dec 22 2006
Externally publishedYes
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: Feb 20 2006Feb 22 2006

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Conference

Conference1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period2/20/062/22/06

Keywords

  • Artificial hands
  • Biomechanical modeling
  • EMG-based interfaces
  • Models of animal/human manipulation
  • Prostheses control systems

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