STUDY OF HUMAN HAND TENDON KINEMATICS WITH APPLICATIONS TO ROBOT HAND DESIGN.

J. C. Becker, Nitish V Thakor, K. G. Gruben

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Studies of the human hand and how it relates to the design of anthropomorphic manipulators are discussed. Hand anatomy and a mathematical model that relates tendon displacement to joint angle are discussed. This enables the role of the tendons in normal hand function as well as in disability to be understood. This information may be used to design robot or hand prostheses tendons after their human counterparts. An example is presented of a shape memory alloy actuator-based design. The actuators emulate human tendon mechanisms.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1540-1545
Number of pages6
ISBN (Print)0818606959
StatePublished - 1986

Fingerprint

Tendons
End effectors
Kinematics
Robots
Actuators
Prosthetics
Shape memory effect
Manipulators
Mathematical models

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Becker, J. C., Thakor, N. V., & Gruben, K. G. (1986). STUDY OF HUMAN HAND TENDON KINEMATICS WITH APPLICATIONS TO ROBOT HAND DESIGN. In Unknown Host Publication Title (pp. 1540-1545). IEEE.

STUDY OF HUMAN HAND TENDON KINEMATICS WITH APPLICATIONS TO ROBOT HAND DESIGN. / Becker, J. C.; Thakor, Nitish V; Gruben, K. G.

Unknown Host Publication Title. IEEE, 1986. p. 1540-1545.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Becker, JC, Thakor, NV & Gruben, KG 1986, STUDY OF HUMAN HAND TENDON KINEMATICS WITH APPLICATIONS TO ROBOT HAND DESIGN. in Unknown Host Publication Title. IEEE, pp. 1540-1545.
Becker JC, Thakor NV, Gruben KG. STUDY OF HUMAN HAND TENDON KINEMATICS WITH APPLICATIONS TO ROBOT HAND DESIGN. In Unknown Host Publication Title. IEEE. 1986. p. 1540-1545
Becker, J. C. ; Thakor, Nitish V ; Gruben, K. G. / STUDY OF HUMAN HAND TENDON KINEMATICS WITH APPLICATIONS TO ROBOT HAND DESIGN. Unknown Host Publication Title. IEEE, 1986. pp. 1540-1545
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