人手操作目标物体过程运动轨迹的规律研究  

Research on the regularity of the movement trajectory of human hand operating the target object

作　　者：张亚琪 周邦达 马小龙 蔡世波 鲍官军[1] Zhang Yaqi;Zhou Bangda;Ma Xiaolong;Cai Shibo;Bao Guanjun(College of Mechanical Engineering,Zhejiang University of Technology,Hanghzou 310023)

机构地区：[1]浙江工业大学机械工程学院,杭州310023

出　　处：《高技术通讯》2021年第4期417-424,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(51775499);国家重点研发计划(2019YFB1302001);省属高校基本科研业务费(RF-C2019004)资助项目。

摘　　要：根据手指生理学特性及手指间的运动特性,对三指操作单位球体运动过程进行了分析,设计了手指的运动步态模式并讨论了操作过程指尖的运动特点及指尖运动轨迹规律。采用NOKOV软件视觉捕捉系统,对手指操作过程的物体转动速度和手指运动轨迹进行了测定,并对三指转动操作运动进行解析模拟和对比。结果表明,人手操作目标物体的手指转动运动符合规划步态的运动规律。研究结果对手指重定位物体的运动仿真和手内操作的步态规划具有指导意义。Based on the physiological characteristics of fingers and the motion characteristics between fingers,the sphere motion process of the three-finger operation unit is analyzed.Then the gait pattern of the finger motion is designed,and the motion characteristics of the fingertips during the operation and the laws of the fingertip motion trajectory are discussed.Using the NOKOV software visual capture system,the object rotation speed and finger movement trajectory of the finger operation process are measured,and the three-finger rotation operation motion is analyzed,simulated and compared.The experimental results show that the finger rotation movement of the target object by man’s hand conforms to the movement law of the planned gait.The research results are instructive for the motion simulation of finger repositioning objects and the gait planning of in-hand operations.

关 键 词：三指运动步态 手指运动轨迹 运动规律 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]