Kinematical analysis of the linkage of the index finger on the basis of the posture measurement.

基于姿势测量的食指联动机构的运动学分析。

基本信息

批准号：
15560229
负责人：
YOKOGAWA Ryuichi
金额：
$ 1.34万
依托单位：
DOSHISHA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15560229/
关键词：
Index Finger Skeletal Model Tip Pinch Posture Manipulability Kinematics Three Dimensional Motion Measurement Biomechanics 運動学1 バイオメカニク

项目摘要

The purpose of the present study is to investigate how the kinematic parameters of the index finger (i.e. the length of the link, and the cooperation between the DIP joint angle and the PIP joint angle) influence the manipulability of the tip of the index finger. The flexion and extension of the index fingers of twenty subjects who were 22-25 years old were measured using a three dimensional position measurement method. The kinematic model of the linkage of the index finger in the tip pinch posture of the thumb and index finger was developed using the measurement data. The cooperation between the DIP joint angle and PIP joint angle of the index finger in the flexion and extension was also obtained using the three dimensional measurement method. The transformation from the finger tip velocity to the joint angular velocities in the tip-pinch posture was obtained using the kinematic model of the index finger and the cooperation between the DIP joint angle and PIP joint angle. Using the Mo … More ore Penrose inverse matrix instead of the cooperation between the DIP joint angle and PIP joint angle enabled us to obtain the transformation from the finger tip velocity to the joint angular velocities. In three tip-pinch postures of the thumb and index finger, the transformation from the finger tip velocity to the joint angular velocities obtained from the cooperation between the DIP joint angle and PIP joint angle was compared with the one obtained from the Moore Penrose inverse matrix. The average ratio of the link lengths of twenty subjects measured in this study was as follows; (the distance between the tip of the finger and the DIP joint axis ):(the distance between the DIP joint axis and the PIP joint axis):(the distance between the PIP joint axis and the MP joint axis)=2.7:2.5:4.8. The cooperation between the DIP joint angle and the PIP joint angle was represented by a gentle sigmoid curve. The transformation from the velocity of the finger tip to the joint angular velocities with the cooperation between the DIP joint angle and the PIP joint angle was very similar to the one with the Moore-Penrose inverse matrix. In the conclusion, it was found that the kinematic parameters of the index finger were determined so that the motion of the finger tip could be controlled by the input of the angular velocities whose magnitude was the minimum in motion. Less

本研究的目的是研究食指的运动学参数（即链路的长度，以及倾角关节角和PIP关节角之间的合作）如何影响食指尖端的操纵性。使用三维位置测量方法测量了20名22-25岁受试者的两名受试者的屈曲和延伸。使用测量数据开发了食指在拇指和食指的尖端捏位置中的链接的运动学模型。还使用三维测量方法获得了屈曲和伸展方面食指的倾角角和PIP关节角之间的合作。使用食指的运动学模型以及倾角手指的运动学模型以及倾角关节角度和PIP关节角度之间的合作，从指尖姿势中的指尖速度到关节角速度的转化。使用MO…更多的矿石Penrose逆矩阵，而不是倾角关节角度和PIP关节角之间的合作，使我们能够从指尖速度到关节角速度获得转换。在拇指和食指的三个尖端位置中，将手指尖端速度转变为从浸入关节角和PIP关节角之间的合作获得的关节角速度与从Moore Penrose逆向矩阵获得的转化。在这项研究中测得的二十个受试者的链路长度的平均比率如下；（手指的尖端和倾角接头轴之间的距离）:(倾角接头轴和PIP接头轴之间的距离）:( PIP接头轴和MP接头轴之间的距离）= 2.7：2.5：4.8。倾斜关节角度与PIP关节角之间的合作由温和的乙状结肠曲线表示。从指尖的速度到关节角速度的速度与倾角关节角和PIP关节角之间的合作的转变与摩尔 - 柔性逆矩阵的速度非常相似。总之，发现确定了食指的运动学参数，以便手指尖端的运动可以通过角速度最小运动的角速度的输入来控制。较少的