人类手指抓取过程关节的运动规律研究  

Investigation into the Motion Law of Human Finger Joint During Grasping

作　　者：杨庆华[1] 张立彬[1] 阮健[1] 胥芳[1] 鲍官军[1] 沈建冰[1] 

机构地区：[1]浙江工业大学机械电子工程研究所,杭州310032

出　　处：《中国机械工程》2004年第13期1154-1157,共4页China Mechanical Engineering

摘　　要：根据手指外科解剖学原理以及手指关节的运动特性 ,对单手指的抓取运动进行了分析 ,讨论了两种常见的运动规律的角位移、角速度和角加速度的特点。通过一个独特的实验 ,对手指运动过程的关节角位移进行了测定并对单手指关节转角运动进行解析模拟和对比 ,结果表明 ,关节转角的运动符合一定的运动规律。Based on the hand surgery anatomy and the kinematic characteristics of finger joints, the motion range of grasping objects for single finger was analyzed. Firstly, the characteristics of angular displacement, angular velocity and angular acceleration for two typical motion laws were discussed. And then, a special experiment was designed for describing the finger's motion. The angular displacements of joints during the procedure of motion were measured. Finally, the movements of bending angles of single finger joint were analyzed and contrasted with two motions' laws. The results show that the motions of the bending angular of joints agree well with certain motion laws. The results possess guidline value for the imitation and control of robotic finger's motion.

关 键 词：关节 运动特性 运动规律 手指关节运动 

分 类 号：TH112.2[机械工程—机械设计及理论]