language: en

Modeling and Parameter Estimation of the Human Index Finger

Robert N. Rohling and John M. Hollerbach
Biorobotics Laboratory, McGill University
3775 University St., Montreal, Quebec H3A 2B4

Abstract Precise teleoperation of dextrous robotic hands by hand masters requires an accurate human hand model. A kinematic model of a human index finger is developed as an example for human hand modeling. The parameters of the model are determined by open-loop kinematic calibration. Singular value decomposition is used as a tool for analyzing the kinematic model and the identification process. Accurate and reliable results are obtained only when the numerical condition is minimized through parameter scaling, model reduction and pose set selection. The identified kinematic parameters show the kinematic model and calibration procedure have an accuracy on the order of a few millimeters.

1 Introduction