Kinematic Analysis of the Human Thumb with Foldable Palm

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

doi:10.1007/978-3-319-40379-3_23

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 proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Towards Autonomous Robotic Systems
Subtitle of host publication	17th Annual Conference, TAROS 2016, Proceedings
Editors	Lyuba Alboul, Dana Damian, Jonathan M. Aitken
Publisher	Springer, Cham
Pages	226-238
Number of pages	13
ISBN (Electronic)	9783319403793
ISBN (Print)	9783319403786
DOIs	https://doi.org/10.1007/978-3-319-40379-3_23
Publication status	Published - 26 Jun 2016
Externally published	Yes
Event	17th Annual Conference on Towards Autonomous Robotic Systems - Sheffield, United Kingdom Duration: 26 Jun 2016 → 1 Jul 2016 Conference number: 17

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9716
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	17th Annual Conference on Towards Autonomous Robotic Systems
Abbreviated title	TAROS 2016
Country/Territory	United Kingdom
City	Sheffield
Period	26/06/16 → 1/07/16

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10.1007/978-3-319-40379-3_23Licence: Unspecified

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Nanayakkara, V., Ataka, A., Venetsanos, D., Duran, O., Vitzilaios, N., Nanayakkara, T., & Sahinkaya, M. N. (2016). Kinematic Analysis of the Human Thumb with Foldable Palm. In L. Alboul, D. Damian, & J. M. Aitken (Eds.), Towards Autonomous Robotic Systems : 17th Annual Conference, TAROS 2016, Proceedings (pp. 226-238). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9716). Springer, Cham. https://doi.org/10.1007/978-3-319-40379-3_23

Nanayakkara, Visakha ; Ataka, Ahmad ; Venetsanos, Demetrios et al. / Kinematic Analysis of the Human Thumb with Foldable Palm. Towards Autonomous Robotic Systems : 17th Annual Conference, TAROS 2016, Proceedings. editor / Lyuba Alboul ; Dana Damian ; Jonathan M. Aitken. Springer, Cham, 2016. pp. 226-238 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Kinematic Analysis of the Human Thumb with Foldable Palm",

abstract = "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.",

keywords = "Foldable palm, Joint angle correlations, Thumb kinematics, Torque correlations",

author = "Visakha Nanayakkara and Ahmad Ataka and Demetrios Venetsanos and Olga Duran and Nikolaos Vitzilaios and Thrishantha Nanayakkara and Sahinkaya, {M. Necip}",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.; 17th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2016 ; Conference date: 26-06-2016 Through 01-07-2016",

year = "2016",

month = jun,

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doi = "10.1007/978-3-319-40379-3_23",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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Nanayakkara, V, Ataka, A, Venetsanos, D, Duran, O, Vitzilaios, N, Nanayakkara, T & Sahinkaya, MN 2016, Kinematic Analysis of the Human Thumb with Foldable Palm. in L Alboul, D Damian & JM Aitken (eds), Towards Autonomous Robotic Systems : 17th Annual Conference, TAROS 2016, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9716, Springer, Cham, pp. 226-238, 17th Annual Conference on Towards Autonomous Robotic Systems, Sheffield, United Kingdom, 26/06/16. https://doi.org/10.1007/978-3-319-40379-3_23

Kinematic Analysis of the Human Thumb with Foldable Palm. / Nanayakkara, Visakha; Ataka, Ahmad; Venetsanos, Demetrios et al.

Towards Autonomous Robotic Systems : 17th Annual Conference, TAROS 2016, Proceedings. ed. / Lyuba Alboul; Dana Damian; Jonathan M. Aitken. Springer, Cham, 2016. p. 226-238 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9716).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematic Analysis of the Human Thumb with Foldable Palm

AU - Nanayakkara, Visakha

AU - Ataka, Ahmad

AU - Venetsanos, Demetrios

AU - Duran, Olga

AU - Vitzilaios, Nikolaos

AU - Nanayakkara, Thrishantha

AU - Sahinkaya, M. Necip

N1 - Conference code: 17

PY - 2016/6/26

Y1 - 2016/6/26

N2 - 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.

AB - 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.

KW - Foldable palm

KW - Joint angle correlations

KW - Thumb kinematics

KW - Torque correlations

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Towards Autonomous Robotic Systems

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PB - Springer, Cham

T2 - 17th Annual Conference on Towards Autonomous Robotic Systems

Y2 - 26 June 2016 through 1 July 2016

ER -

Nanayakkara V, Ataka A, Venetsanos D, Duran O, Vitzilaios N, Nanayakkara T et al. Kinematic Analysis of the Human Thumb with Foldable Palm. In Alboul L, Damian D, Aitken JM, editors, Towards Autonomous Robotic Systems : 17th Annual Conference, TAROS 2016, Proceedings. Springer, Cham. 2016. p. 226-238. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-40379-3_23

Kinematic Analysis of the Human Thumb with Foldable Palm

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