Sub-millimetre accurate human hand kinematics: from surface to skeleton

Area of Science:

• Biomechanics
• Robotics
• Human-Computer Interaction

Background:

• Accurate modeling of human hand kinematics is crucial for applications in robotics, virtual reality, and clinical assessment.
• Existing models often rely on simplifying assumptions that limit their precision and applicability.

Purpose of the Study:

• To develop and validate a highly accurate human hand kinematics model.
• To improve upon existing modeling assumptions in the literature.
• To establish a relationship between surface landmarks and joint rotational angles.

Main Methods:

• A novel human hand kinematics model was developed, incorporating five digits and the palm arc.
• A mapping function was utilized to relate surface landmarks to estimated joint centers of rotation.
• Model identification and validation were performed experimentally using a motion tracking system.

Main Results:

• The model demonstrated high accuracy, with marker position estimation errors at the sub-millimetre level across all digits.
• The developed model improved upon several previously published modeling assumptions.
• A fundamental linear relationship between surface and skeleton rotational angles was identified.

Conclusions:

• The proposed human hand kinematics model offers a significant advancement in accuracy and reliability.
• This model has the potential to enhance performance in various applications requiring precise hand motion tracking.
• The findings contribute to a better understanding of the relationship between external surface points and internal skeletal motion.