Kinematic Analysis of the Human Thumb with Foldable Palm

Visakha Nanayakkara, Ahmad Ataka, Demetrios Venetsanos, Olga Duran, Nikolaos Vitzilaios, Thrishantha Nanayakkara, M. Necip Sahinkaya

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)


There have been numerous attempts to develop anthropomorphic robotic hands with varying levels of dexterous capabilities. However, these robotic hands often suffer from a lack of comprehensive understanding of the musculoskeletal behavior of the human thumb with integrated foldable palm. This paper proposes a novel kinematic model to analyze the importance of thumb-palm embodiment in grasping objects. The model is validated using human demonstrations for five precision grasp types across five human subjects. The model is used to find whether there are any co-activations among the thumb joint angles and muskuloskeletal parameters of the palm. In this paper we show that there are certain pairs of joints that show stronger linear relationships in the torque space than in joint angle space. These observations provide useful design guidelines to reduce control complexity in anthropomorphic robotic thumbs.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication17th Annual Conference, TAROS 2016, Proceedings
EditorsLyuba Alboul, Dana Damian, Jonathan M. Aitken
PublisherSpringer, Cham
Number of pages13
ISBN (Electronic)9783319403793
ISBN (Print)9783319403786
Publication statusPublished - 26 Jun 2016
Externally publishedYes
Event17th Annual Conference on Towards Autonomous Robotic Systems - Sheffield, United Kingdom
Duration: 26 Jun 20161 Jul 2016
Conference number: 17

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference17th Annual Conference on Towards Autonomous Robotic Systems
Abbreviated titleTAROS 2016
Country/TerritoryUnited Kingdom


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