Graphics enhanced version of this site

A Kinematic Thumb Model for the ACT Hand
L.Y. Chang and Y. Matsuoka
Proceedings of the IEEE Intl. Conference on Robotics and Automation (ICRA '06), May, 2006, pp. 1000 - 1005.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [379 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract - The thumb is essential to the hand's function in grasping and manipulating objects. Previous anthropomorphic robot hands have thumbs that are biologically-inspired but kinematically-simplified. In order to study the biomechanics and neuromuscular control of hand function, an anatomical robotic model of the human thumb is constructed for the anatomically-correct testbed (ACT) hand. This paper presents our ACT thumb kinematic model that unifies a number of studies from biomechanical literature. We also validate the functional consistency (i.e. the nonlinear moment arm values) between the cadaveric data and the ACT thumb. This functional consistency preserves the geometric relationship between muscle length and joint angles, which allows robotic actuators to imitate human muscle functionality.

Associated lab/group: Neurobotics Laboratory
Associated project: Anatomically Correct Testbed (ACT) Hand

Number of pages: 6

Note: accepted

L.Y. Chang and Y. Matsuoka, "A Kinematic Thumb Model for the ACT Hand," Proceedings of the IEEE Intl. Conference on Robotics and Automation (ICRA '06), May, 2006, pp. 1000 - 1005.

@inproceedings{Chang_2006_5322,
   author = "Lillian Y. Chang and Yoky Matsuoka",
   title = "A Kinematic Thumb Model for the ACT Hand",
   booktitle = "Proceedings of the IEEE Intl. Conference on Robotics and Automation (ICRA '06)",
   month = "May",
   year = "2006",
   pages = "1000 - 1005",
   note = "accepted"
}