Finger Motions in Reach and Grasp Work Elements
This paper describes a study that was conducted to develop a model of finger motions for reach and grasp work elements. A finger motion model is needed for predicting hand postures, required hand space, hand strength capacity and tendon excursions. On the basis of experimental observations, an empirical model was developed to describe reach and grasp motion of the hand. To accomplish this, a motion capture system recorded finger motions of six subjects as they reached 40cm for and grasped a cylindrical handle of 3.8cm diameter with pinch grip. Joint angle profiles of each digit were obtained from the data to quantitatively represent finger motion during reaching and grasping. Analysis of the spatial and temporal aspects of the motion found some features of the finger joint angle profiles. A fourth order polynomial function was proposed to model the finger motion, employing those features as constraints; angular velocities are given zero as the fingers begin to open and finish grasping, and the intercepts are matched to the corresponding observed values at the start of finger opening, at the end of grasping, and at the maximum opening of the finger. The models for each finger joint showed good fit, with high correlation coefficients ranging from 0.85 to 1.The predictive power of the proposed model was illustrated by implementing the model prediction into an existing three-dimensional kinematic model that can graphically display the opening and closing of the hand.
Sungchan Bae Thomas J. Armstrong
Center for Ergonomics, University of Michigan, Ann Arbor
国际会议
17th World Congress on Ergonomics(第十七届国际人类工效学大会)
北京
英文
1-5
2009-08-09（万方平台首次上网日期，不代表论文的发表时间）