DSpace DSpace UPC
 Català   Castellano   English  

E-prints UPC >
Altres >
Enviament des de DRAC >

Empreu aquest identificador per citar o enllaçar aquest ítem: http://hdl.handle.net/2117/14458

Arxiu Descripció MidaFormat
F82.pdfArticle principal1.2 MBAdobe PDFThumbnail

Citació: Duraisamy, K. [et al.]. Kinematic synthesis for smart hand prosthetics. A: IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. "Proceedings of the BioRob 2006: 1st IEEE/RAS Int. Conf. on Biomedical Robotics and Biomechatronics". Pisa: IEEE Press. Institute of Electrical and Electronics Engineers, 2006, p. 492-498.
Títol: Kinematic synthesis for smart hand prosthetics
Autor: Duraisamy, Karthikeyan; Isebor, Obiajulu; Pérez Gracia, Alba Veure Producció científica UPC; Schoen, Marco P.; Naidu, Desineni Subbaram
Editorial: IEEE Press. Institute of Electrical and Electronics Engineers
Data: 2006
Tipus de document: Conference report
Resum: The dream of a bionic replacement appendage is becoming reality through the use of mechatronic prostheses that utilize the body’s myoelectric signals. This paper presents a process to accurately capture the motion of the human hand joints; the obtained information is to be used in conjunction with myoelectric signal identification for motion control. In this work, the human hand is modeled as a set of links connected by joints, which are approximated to standard revolute joints. Using the methods of robotics, the motion of each finger is described as a serial robot, and expressed as Clifford algebra exponentials. This representation allows us to use the model to perform kinematic synthesis, that is, to adapt the model to the dimensions of real hands and to obtain the angles at each joint, using visual data from real motion captured with several cameras. The goal is to obtain an adaptable motion tracking system that can follow as many different motions as possible with sufficient accuracy, in order to relate the individual motions to myoelectric signals in future work.
ISBN: 1-4244-0040-6
URI: http://hdl.handle.net/2117/14458
DOI: 10.1109/BIOROB.2006.1639043
Versió de l'editor: http://ieeexplore.ieee.org/Xplore/login.jsp?reason=concurrency&url=http%3A%2F%2Fieeexplore.ieee.org%2Fstamp%2Fstamp.jsp%3Ftp%3D%26arnumber%3D1639043
Apareix a les col·leccions:Altres. Enviament des de DRAC
Institut de Robòtica i Informàtica Industrial, CSIC-UPC. Ponències/Comunicacions de congressos

Stats Mostra les estadístiques d'aquest ítem

SFX Query

Aquest ítem (excepte textos i imatges no creats per l'autor) està subjecte a una llicència de Creative Commons Llicència Creative Commons
Creative Commons


Valid XHTML 1.0! Programari DSpace Copyright © 2002-2004 MIT and Hewlett-Packard Comentaris
Universitat Politècnica de Catalunya. Servei de Biblioteques, Publicacions i Arxius