食指触点运动结构模式的主元分析

Principal component analysis of motion patterns for the point-touch movement of the index finger

为了研究人手运动结构模式的内在规律,选取食指触点动作为研究对象,对其空间运动轨迹进行快速摄像记录和分析,通过将不同样本运动轨迹归一化处理和选定参数化指标体系,对人手运动结构模式进行主元分析。分析表明:食指触点运动过程中指尖、关节的空间轨迹具有相对固定的结构模式,反映人手在慢速、快速运动中均具有普遍相似的协调规律;人手运动的速度变化、姿态调整与外界空间的状态和所需完成的操作任务有较强的相关性。主元分析法为研究人手的协调规律和机器人冗余运动协调控制提供了新的理论和方法。

The motion patterns of a human hand were studied using the principal component analysis. All the trajectories of the point-touch movement of the index finger were recorded by the 3-D video imaging system and normalized. The index of the digital principal component was defined. Experimental results showed that there is a relatively invariant motion pattern in the spatial orbit of index finger movement and that the finger movement velocity was related to the posture adjustment and the external environment during the point-touch movement. The data provide a theoretical basis for the study of human hands synergy and robotic redundancy control.