AN ENHANCED KINEMATIC MODEL OF THE HUMAN THUMB FOR AN ARTIFICIAL HAND

Marc Franke, Martin Bogdan

2010

Abstract

Hand prostheses need to be lightweight, robust and forceful and should replace the function and range of performance of the human hand in the best possible way. Furthermore, their look and appearance should turn up as naturally as possible. The prostheses and anthropomorphic robot hands known today often lack one or more of those aspects. We assume that the kinematic function of the thumb is additionally supported by the kinematic function of the STT (Scaphoid-Trapezium-Trapezoid) joint, which builds the radial carpal column. Our study is based on a previous work by Essers (Essers, 2006) determining the specific movements of the STT joints. In this study, these results were combined with a kinematic 3D model of the human hand with focus on the kinematic of the radial carpal column. We set up a kinematic chain of the radial carpal column and the thumb bones to analyse the data gained from the measured movements. The simulations revealed, that the joint movement of the STT joint supports up to 1/3 of the motion range of the adduction, abduction, flexion and extension. Based on these results, we integrated the previous findings into a real kinematic model of the human thumb.

Paper Citation

in Harvard Style

Franke M. and Bogdan M. (2010). AN ENHANCED KINEMATIC MODEL OF THE HUMAN THUMB FOR AN ARTIFICIAL HAND . In Proceedings of the Third International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2010) ISBN 978-989-674-017-7, pages 206-210. DOI: 10.5220/0002749202060210

in Bibtex Style

@conference{biodevices10,
author={Marc Franke and Martin Bogdan},
title={AN ENHANCED KINEMATIC MODEL OF THE HUMAN THUMB FOR AN ARTIFICIAL HAND},
booktitle={Proceedings of the Third International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2010)},
year={2010},
pages={206-210},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002749202060210},
isbn={978-989-674-017-7},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2010)
TI - AN ENHANCED KINEMATIC MODEL OF THE HUMAN THUMB FOR AN ARTIFICIAL HAND
SN - 978-989-674-017-7
AU - Franke M.
AU - Bogdan M.
PY - 2010
SP - 206
EP - 210
DO - 10.5220/0002749202060210