3D active workspace of human hand anatomical model

Area of Science:

• Robotics and Biomechanics
• Human-Computer Interaction
• Kinematic Modeling

Background:

• Accurate human hand models are challenging due to complex kinematic chains and motion constraints.
• Simplified models are sufficient for applications not requiring fine manipulation.
• Any hand model must account for a defined workspace and motion capabilities.

Purpose of the Study:

• To develop an accurate and adaptable kinematic model of the human hand.
• To define the workspace boundaries for active hand movements.
• To facilitate the design of artificial hands with reduced degrees of freedom.

Main Methods:

• Utilized the Denavit-Hartemberg convention to establish the hand's kinematic model.
• Derived kinematical equations for fingertip motion relative to a wrist-based coordinate system.
• Defined joint ranges and intervals to map the workspace surface.

Main Results:

• Generated the complex surface of fingertip trajectories using MATLAB.
• Determined that fingertip positions are contained within a sphere defined by the middle finger's length.
• Validated computed fingertip trajectories against real hand motion.

Conclusions:

• The proposed kinematic model offers a novel solution for human hand simulation.
• The model supports power grip and dexterous manipulations within defined workspace limits.
• It enables simplification for specific applications and aids in designing functional artificial hands.