State Classification for Human Hands

摘要：

The human hand, which is a perfect model for dextrous hands, is a masterpiece of mechanical complexity. A full understanding of the human hand will provide more inspiration for the successful implementation and application of dextrous hands. The purpose of this paper is two-fold. First, the characteristic tree of the human hand is established for kinematic characteristics analysis. Second, a systematic classification for the human hand states is issued from the view point of topology. Moreover, the kinematic characteristics of the palm or finger tips are achieved via the Generalized Function (G_F) set theory with the aim of achieving deeper insight into the capabilities of the human hand. Finally one application example is given to show the effectiveness of the exploitation of the G_F set theory and the usefulness of this methodology for dextrous hands.

关键词： state classification human hands deztrous hands kinematic characteristics tree generalized function set

作者: Jia-lun Yang Feng Gao Li-feng Shi Zhen-lin Jin

作者单位: State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 2002 Robotic Research Center, Yanshan University, Qinhuangdao 066004, P.R.China

会议类型: 国际会议

会议名称: 第二届国际仿生工程会议(The International Conference of Bionic Engineering 2008)(ICBE08)

会议地点: 长春

会议语种:英文

页码: 158-163

在线出版日期: 2008-10-10（万方平台首次上网日期，不代表论文的发表时间）