人手食指运动学建模

Kinematic Model for Human Index Finger

通过分析人手解剖学结构和观察人手运动特性,提出如下观点:(1)食指指掌关节具有两个轴线垂直相交的旋转自由度,两轴线相对于手掌不同的排列顺序对应于两种不同的运动学模型,指掌关节只能是其中的一种;(2)食指指掌关节的两个自由度在运动极限位置具有相关性.通过实验测绘出人手食指的工作空间形状,将之与两种可能的食指运动学模型对应的工作空间相比较,判别出指掌关节的真实运动学结构,并验证了指掌关节极限位置上两个自由度运动相关性.在上述工作基础上建立了符合人手实际结构的手指运动学模型.

Through analyzing anatomical structure of human hand and observing human hand motion, two viewpoints are proposed ： （ 1 ） the metacarpal-phalangeal joint （MPJ） of human index finger has two rotational degrees of freedom （DOFs） with perpendicularly intersecting axes, and the kinematic models derived from different arrangement sequences of the intersecting axes are different, one of which is more approximate to human finger＇s MPJ; （2） the two rotational DOFs of MPJ are coupled at their extreme positions. The workspace of index finger is depicted through experiment. Then it is compared with that of two possible kinematic models, and the actual kinematic structure of MPJ is determined. In addition, the coupling motion of this joint is validated. Finally, kinematic model of finger is presented based on the aforementioned investigation, which conforms to the actual structure of human hand.