Kinematic Structures Description of Bionic Hand Based on VF Set

Xiancan Liu; Pengying Bai; Min Luo; Meng Gao; Qiang Zhan

doi:10.1088/1757-899X/187/1/012034

Kinematic Structures Description of Bionic Hand Based on VF Set

Xiancan Liu
, Pengying Bai
, Min Luo
, Meng Gao
, Qiang Zhan

School of Mechanical Engineering and Automation

CAS - Institute of Mechanics

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper presents a method for describing kinematic structure of bionic hand based on VF (virtual finger) set. At first, a 20 DOFs (degrees of freedom) human hand kinematic model is built, which is expressed by five fingers' kinematic chains consisting of kinematic pairs and symbols that represent geometric relationships of kinematic pairs' axes. Based on the concept of VF, the hand fingers are divided into two types: VF_AA having adduction/abduction motion and VF_FE having flexion/extension motion. The concept of VF set comprising VF_AAs and VF_FEs is defined, human hand and six basic grasp postures are described by VF set. Then, the structures corresponding VF_AA and VF_FE are given according to active and passive forms of finger joints, and VF_FE Structure-Base comprising 20 conventional structures is built. Based on VF set and the structures of VF_AA and VF_FE, VF sets and kinematic structures of several classic bionic hands are given.

Original language	English
Article number	012034
Journal	IOP Conference Series: Materials Science and Engineering
Volume	187
Issue number	1
DOIs	https://doi.org/10.1088/1757-899X/187/1/012034
State	Published - 23 Mar 2017
Event	2016 2nd International Conference on Mechanical and Aeronautical Engineering, ICMAE 2016 - Hong Kong, Hong Kong SAR Duration: 28 Dec 2016 → 30 Dec 2016

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title = "Kinematic Structures Description of Bionic Hand Based on VF Set",

abstract = "This paper presents a method for describing kinematic structure of bionic hand based on VF (virtual finger) set. At first, a 20 DOFs (degrees of freedom) human hand kinematic model is built, which is expressed by five fingers' kinematic chains consisting of kinematic pairs and symbols that represent geometric relationships of kinematic pairs' axes. Based on the concept of VF, the hand fingers are divided into two types: VFAA having adduction/abduction motion and VFFE having flexion/extension motion. The concept of VF set comprising VFAAs and VFFEs is defined, human hand and six basic grasp postures are described by VF set. Then, the structures corresponding VFAA and VFFE are given according to active and passive forms of finger joints, and VFFE Structure-Base comprising 20 conventional structures is built. Based on VF set and the structures of VFAA and VFFE, VF sets and kinematic structures of several classic bionic hands are given.",

author = "Xiancan Liu and Pengying Bai and Min Luo and Meng Gao and Qiang Zhan",

note = "Publisher Copyright: {\textcopyright} Published under licence by IOP Publishing Ltd.; 2016 2nd International Conference on Mechanical and Aeronautical Engineering, ICMAE 2016 ; Conference date: 28-12-2016 Through 30-12-2016",

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T1 - Kinematic Structures Description of Bionic Hand Based on VF Set

AU - Liu, Xiancan

AU - Bai, Pengying

AU - Luo, Min

AU - Gao, Meng

AU - Zhan, Qiang

N1 - Publisher Copyright: © Published under licence by IOP Publishing Ltd.

PY - 2017/3/23

Y1 - 2017/3/23

N2 - This paper presents a method for describing kinematic structure of bionic hand based on VF (virtual finger) set. At first, a 20 DOFs (degrees of freedom) human hand kinematic model is built, which is expressed by five fingers' kinematic chains consisting of kinematic pairs and symbols that represent geometric relationships of kinematic pairs' axes. Based on the concept of VF, the hand fingers are divided into two types: VFAA having adduction/abduction motion and VFFE having flexion/extension motion. The concept of VF set comprising VFAAs and VFFEs is defined, human hand and six basic grasp postures are described by VF set. Then, the structures corresponding VFAA and VFFE are given according to active and passive forms of finger joints, and VFFE Structure-Base comprising 20 conventional structures is built. Based on VF set and the structures of VFAA and VFFE, VF sets and kinematic structures of several classic bionic hands are given.

AB - This paper presents a method for describing kinematic structure of bionic hand based on VF (virtual finger) set. At first, a 20 DOFs (degrees of freedom) human hand kinematic model is built, which is expressed by five fingers' kinematic chains consisting of kinematic pairs and symbols that represent geometric relationships of kinematic pairs' axes. Based on the concept of VF, the hand fingers are divided into two types: VFAA having adduction/abduction motion and VFFE having flexion/extension motion. The concept of VF set comprising VFAAs and VFFEs is defined, human hand and six basic grasp postures are described by VF set. Then, the structures corresponding VFAA and VFFE are given according to active and passive forms of finger joints, and VFFE Structure-Base comprising 20 conventional structures is built. Based on VF set and the structures of VFAA and VFFE, VF sets and kinematic structures of several classic bionic hands are given.

UR - https://www.scopus.com/pages/publications/85017441076

U2 - 10.1088/1757-899X/187/1/012034

DO - 10.1088/1757-899X/187/1/012034

M3 - 会议文章

AN - SCOPUS:85017441076

SN - 1757-8981

VL - 187

JO - IOP Conference Series: Materials Science and Engineering

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IS - 1

M1 - 012034

T2 - 2016 2nd International Conference on Mechanical and Aeronautical Engineering, ICMAE 2016

Y2 - 28 December 2016 through 30 December 2016

ER -

Kinematic Structures Description of Bionic Hand Based on VF Set

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