Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics

Human Hand: Kinematics, Statics and Dynamics

Porto, the institutional repository of the Politecnico di Torino, is provided by the University Library and the IT-Services. The aim is to enable open access to all the world. Please share with us how this access benefits you. Your story matters. The human hand is an extremely complex system due to its large number of degrees of freedom (DoF) within a significantly reduced space. Moreover, it i...

Measurement and Analysis of Human Hand Kinematics

Measurements and quantitative analysis of kinematic parameters of human hand movements have an important role in different areas such as hand function rehabilitation, modeling of multi-digits robotic hands, and the development of machine-man interfaces. In this paper the assessment and evaluation of the reachto-grasp movement by using computerized and robot-assisted method is described. Experim...

Modeling and Kinematics Study of Hand

A control model of a designed mechanical model of the hand using Screw theory is presented. Forward and inverse kinematics of a finger, which is an open-chain manipulator with four degrees of freedom (DoF), is discussed. Forward kinematics are solved using the transformations in form of exponential of twist between the adjacent link frames to obtain the configuration of the fingertip frame T re...

Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints.

Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains...

Capturing Human Hand Kinematics for Object Grasping and Manipulation