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在人类手握和释放过程中,手指动态
Xiaodong Li1,2, Rongwei Wen1, Dehao Duanmu1,2
1Shenzhen Institute of Research and Innovation, The University of Hong Kong, Shenzhen 518057, China.
Biomimetics (Basel, Switzerland)
|June 27, 2023
概括
人类手的运动模式揭示了机器人手开发的关键见解. 靠近的间关节显示出更大的运动范围和速度,指导改进的机器人设计.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 人类运动分析分析
背景情况:
- 机器人手旨在模仿人类的灵巧,但面临着操纵挑战.
- 了解人类手的动力学对于提高机器人手的性能至关重要.
研究的目的:
- 为了研究健康个体在抓握和释放期间的正常手部运动模式.
- 为设计和开发先进的机器人手建立动力学参考.
主要方法:
- 收集了22名健康个体使用感官手套的主导手的动态数据.
- 分析了14个手指关节,重点关注动态运动范围 (ROM),峰值速度和快速抓取和释放期间的关节/手指序列.
主要成果:
- 靠近的间关节 (PIP) 显示出较大的动态ROM和较高的峰值速度 (屈曲/延伸),相比于甲间关节 (MCP) 和远端间关节 (DIP).
- 曲序列:PIP关节在DIP/MCP关节之前移动. 延伸序列:DIP/MCP关节在PIP关节之前移动.
- 大指在抓取和释放期间在四个手指之前发起了运动,并在它们之后完成了运动.
结论:
- 确定了人类手握和释放的独特动力学模式,突出了PIP关节的重要作用.
- 这些发现提供了必不可少的动力学数据,以告知设计更类似人类和功能性的机器人手.
- 这项研究为未来生物机器人手技术的进步提供了基础动力学参考.
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