Robotics-based Kinematic Modeling of the Human Hand and Associated Joint Synergy Control

B. Tondu (France)


Hand modeling, joint synergy, hand constraints,redundancy control


The recent development of highly anthropomorphic avatars in computer graphics, as the design of humanoid robots has highlighted the importance of accurate human hand kinematic models. In this framework, we analyse the application of robotic tools to the kinematic modeling of human hands defined as branched chains, and we derive an original approach for an inverse differential kinematic model including hand dynamic constraints in the form of joint synergy linear relations.

Important Links:

Go Back