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A study of calculation method for finger joint angular displacement based on the finger inverse kinematics

机译：基于手指逆运动学的手指关节角位移计算方法研究

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摘要

A simple method for measuring and calculating the finger joint angular displacement was proposed to serve as the basis for designing dexterous hand and rehabilitation robot hand. The direct kinematics model and the inverse kinematics equation of the finger were established at the beginning of this paper. Then, the trajectory of the fingertip, from which the coordinates of the fingertip were extracted by using AutoCAD, was captured by camera. Finally, the trajectory coordinates of the fingertip were substituted into the inverse kinematics equations to solve the angular displacements of the proximal interphalangeal (PIP), distal interphalangeal (DIP) and metacarpophalangeal (MCP) joints. The calculating precision testing of the finger joint angular displacement needs to substitute the angular displacements calculated before into the direct kinematics equations of the finger to calculate the trajectory of the fingertip. Then, the average Euclidean distance between the calculated trajectory and the real trajectory was computed to test the calculating precision of the finger joint angular displacement. The average Euclidean distance of each fingers is less than 0.05mm, which proves the high calculating precision of the finger joint angular displacement and the efficiency of the method presented in this paper.
机译：提出了一种用于测量和计算手指关节角位移的简单方法，作为设计灵巧手和康复机器人手的基础。在本文的开头建立了手指的直接运动学模型和逆运动学方程。然后，通过相机捕获指尖的轨迹，从该轨道通过使用AutoCAD提取指尖的坐标。最后，指尖的轨迹坐标被取代成逆运动学方程，以解决近端间angalAnal（PIP），远端间angeal（DIP）和Metacarpophalangeal（MCP）关节的角位移。手指接头角位移的计算精度测试需要替代之前计算的角位移进入手指的直线运动学方程中以计算指尖的轨迹。然后，计算计算出的轨迹和实际轨迹之间的平均欧几里德距离以测试指针角位移的计算精度。每个手指的平均欧几里德距离小于0.05mm，这证明了手指接头角位移的高计算精度以及本文中介绍的方法的效率。

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