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- W3096547199 abstract "Abstract This paper builds up on a recently developed novel planar inter-joint finger kinematic model for human hand configurations, which applies to the realization of a naturalistic human finger motion. The model is a function of the finger anthropomorphic data and is derived based on the geometry of a hand shape grasping a virtual cylindrical object. Unlike well-known inverse kinematics models, the inter-joint model is capable of describing the natural rotation configuration of the joints of a long finger independently by a single parameter, the radius of the cylindrical object. A novel inter-finger coordination model, based on the inter-joint model is proposed and experimentally tested. The preliminary results show that the model has the potential to simulate naturalistic human hand grasping motion. The merit of the proposed inter-finger coordination model is in its simplicity when used in hand-exoskeleton design assessment and naturalistic hand trajectory planning applications, among others. We would like to note that this paper is the first step towards exploring future simplified combined design-control strategies for the development and assessment of mechanical limbs for naturalistic movement." @default.
- W3096547199 created "2020-11-09" @default.
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- W3096547199 date "2020-08-17" @default.
- W3096547199 modified "2023-09-25" @default.
- W3096547199 title "Towards Creating Inter-Finger Kinematic Models for Natural Coordination Derived From Grasping of Virtual Objects" @default.
- W3096547199 doi "https://doi.org/10.1115/detc2020-22202" @default.
- W3096547199 hasPublicationYear "2020" @default.
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