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Finger module dividing method based on analysis of moving functions of human hand

A technology of motion function and human hands, which is applied in the field of robotics, can solve the problems of complicated degrees of freedom of human hands and difficult simulation, and achieve the effect of simplifying the degree of freedom of human hands, realizing independent driving, and reproducing dexterity

Active Publication Date: 2016-09-21
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of complicated degrees of freedom and difficult simulation of human hands, the present invention further proposes a finger module division method based on the analysis of human hand motion functions

Method used

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  • Finger module dividing method based on analysis of moving functions of human hand
  • Finger module dividing method based on analysis of moving functions of human hand

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specific Embodiment approach 1

[0014] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment, the specific steps of the finger module division method based on human hand motion function analysis described in this embodiment are as follows:

[0015] Step 1. Establish a human grasping pose library;

[0016] Step 2. Analyze the motion characteristics of the joint itself;

[0017] Step 3. Analyze the motion characteristics between joints;

[0018] Step 4, analyzing the correlation proportional coefficient;

[0019] Step 5. Analyze the anatomy of the human hand and the frequency of use of each finger in different grasps.

[0020] In this embodiment, the human hand joints are divided into a thumb module and a four-finger module, and the four-finger module is divided into a metacarpophalangeal abduction-adduction joint module, a metacarpophalangeal extension-flexion joint module, an interphalangeal extension-flexion joint module, and a far finger extension-flexion joint modul...

specific Embodiment approach 2

[0022] Specific implementation mode two: combination figure 1 and figure 2 Describe this embodiment, the method for dividing finger modules based on the analysis of human hand motion function described in this embodiment is characterized in that: in step 1, a database of grasping postures of human hands is established to reflect the grasping ability of human hands, and its specific steps are:

[0023] Step 1 (1), select 10 subjects, and each subject grasps 6 objects of different shapes and sizes. During the grasping process, the position of the wrist of the human hand is fixed and cannot be translated, but the wrist can be adjusted in different postures to grasp objects. crawling;

[0024] Step 1 (2), each subject adjusts the wrist to different postures to complete the grasping of 6 objects located in 27 relative positions relative to the front, middle, back, left, middle and right, and upper, middle, and lower of the human hand. Each object is grasped twice ;

[0025] Ste...

specific Embodiment approach 3

[0027] Specific implementation mode three: combination figure 1 and figure 2 This embodiment is described. In the second step of the finger module division method based on the analysis of human motion function in this embodiment, the kinematic characteristics of the joints themselves are analyzed to omit the degree of freedom of joint angles in different grasps. On this basis, only Four-finger metacarpophalangeal joint abduction-adduction, metacarpophalangeal joint extension-flexion and interphalangeal joint extension-flexion are used to analyze the joint kinematic characteristics. Based on the constructed human grasping pose library, compared with other types of joint degrees of freedom It is concluded that in different grasps, the abduction and adduction joint angles of the four fingers of the human hand do not change much, and the consistency is strong. Therefore, the degrees of freedom of the abduction and adduction joints of the four fingers of the human hand are omitted...

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Abstract

The invention relates to a finger module dividing method based on analysis of moving functions of a human hand, relates to a finger module dividing method, in particular to the finger module dividing method based on analysis of the moving functions of the human hand, and aims to solve the problems that the freedom degree of the human hand is large and complex, and simulation is difficult. The finger module dividing method has the specific steps of step I, building a human hand grasping posture database; step II, analyzing own motion characteristics of each joint; step III, analyzing motion characteristics between joints; step IV, analyzing a correlation scale factor; and step V, analyzing using frequencies of each finger in human hand anatomy and different grasping postures. The finger module partitioning method disclosed by the invention belongs to the field of robots.

Description

technical field [0001] The invention relates to a finger module division method, in particular to a finger module division method based on human hand motion function analysis, and belongs to the field of robots. Background technique [0002] As the most complex part of the human body, the human hand shows a high degree of dexterity in daily life. This is mainly reflected in the fact that in daily life, human hands can change different postures to complete the grasping of various types of objects. In order to simulate the grasping ability of human hands, various humanoid dexterous hands have emerged in the field of robotics. Since the human hand is a model for imitating the human hand design, in order to simulate the dexterous grasping and operating capabilities of the human hand, the research focus of the dexterous hand design has always been the development of a highly integrated mechatronics system based on the maximum degree of freedom of simulating the human hand. Typic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1612G05B2219/40527
Inventor 姜力刘源何其佳杨大鹏樊绍巍程明
Owner HARBIN INST OF TECH
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