| Popis: |
This paper shows a kinematical analysis of a right hand in order to write an algorithm to control a hand prosthesis prototype by defining several postures and grasps. At the beginning of the paper, there is a short review of similar and previous investigations, which serve as a foundation for this work; then the motion capture (Mocap) system used to develop this research and the finger angles measurement methodology, are described and finally, the results from the Mocap process for grasps and postures and their mathematical descriptions are shown. Those results show a trend towards a straight line for the evolution of the joint angles for several joints in movements that require a closing of the fingers. The results also show for the cylindrical and spherical grasps, a higher closure speed for the proximal interphalangeal joint from index to little fingers and a higher closure speed for the interphalangeal joint of the thumb. |
