Movement model of a human hand based on magnetic resonance imaging (MRI)

摘要

Building on a long tradition of developing robotic hands, we are developing robotic systems closely copying human hands in its kinematic and dynamic properties. To this end, we require an exact computational model of human hand kinematics in order to obtain optimal grasping properties. From a large number of MRI recordings of hand bones in various grasps, we construct a parametrisable kinematic model, of which optimal versions can be determined. In this paper we present the required image processing and modelling methods as well as a resulting model.