Skip to main content
SpringerLink
Log in

Comparison of Human and Artificial Finger Movements

  • Chapter
  • First Online:
New Trends in Medical and Service Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 16))

  • 1548 Accesses

Abstract

The objective of this study is to quantify and investigate nonlinear motion of the metacarpal and proximal inter-phalange human finger joints, using tools of nonlinear analysis. The second objective is to compare the human finger movement with the cyclic movement of the artificial finger of an anthropomorphic hand-forearm system. The kinematic data of the flexion–extension angles for human and artificial finger were analyzed for two tests which differ by frequency. A time series was obtained for each test. For each time series the angular diagrams are obtained. The main spatio-temporal parameters of the performed tests are presented. Profiles of the phase plane portraits are determinate. For artificial finger joints the dominant frequency of both flexion–extension tests are calculated. For all time series, the human joints motion was characterized with the correlation dimension as nonlinear measure. The calculation of the correlation dimension was performed using the Chaos Data Analyzer software.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  • Abarbanel HDI (1996) Analysis of observed chaotic data. Spinger, New York

    Book  MATH  Google Scholar 

  • Berceanu C, Tarnita D (2012) Mechanical design and control issues of a dexterous robotic hand. Adv Mater Res 463–464:1268–1271

    Article  Google Scholar 

  • Boccaletti S, Valladares DL, Pecora LM, Geffert HP, Carroll T (2002) Reconstructing embedding spaces of coupled dynamical systems from multivariate data. Phys Rev E 65:1–4

    Article  Google Scholar 

  • Butterfass J, Grebenstein M, Liu H, Hirzinger G (2001) DLR-hand II: next generation of a dextrous robot hand. In: Proceedings of IEEE international conference on robotics and automation, ICRA01, Seoul, Korea

    Google Scholar 

  • Carbone G, Ceccarelli M (2008) Design of LARM hand: problems and solutions. J Control Eng Appl Inf 10(2):39–46

    Google Scholar 

  • Ceccarelli M, Nava Rodriguez NE, Carbone G (2006) Optimal design of driving mechanism in a 1-d.o.f. anthropomorphic finger. Mech Mach Theory 41:897–911

    Article  MATH  Google Scholar 

  • Dingwell JB, Cusumano JP (2000) Nonlinear time series analysis of normal and pathological human walking. Chaos 10(4):848–863

    Article  MATH  Google Scholar 

  • Doroftei I, Baudoin Y (2012) A concept of walking robot for humanitarian demining. Ind Robot: Int J 39(5):441–449

    Google Scholar 

  • Doroftei I, Stirbu B (2010) Design, modelling and control of an omni-directional mobile robot. Solid State Phenom 166:173–178

    Article  Google Scholar 

  • Han J, Moussavi Z (2005) Application of nonlinear dynamics to human postural control system. Engineering in medicine and biology society 27th annual conference, Shanghai, China

    Google Scholar 

  • i-Limb (2007) The i-limb system. http://www.touchbionics.com

  • Iwase H, Murata A (2001) Chaotic features of rhythimic joint movement, systems, man, and cybernetics. In: Proceedings of the IEEE international conference, Tucson, AZ, USA

    Google Scholar 

  • Jacobsen SC, Iversen EK, Knutti DF, Johnson RT, Biggers KB (1986) Design of the Utah-MIT dexterous hand, In: Proceedings IEEE international conference on robotics and automation

    Google Scholar 

  • Kaneko K, Harada K, Kanehiro F (2007) Development of multi-fingered hand for life-size humanoid robots. In: Proceedings of the IEEE international conference on robotics and automation, Roma, Italy

    Google Scholar 

  • Kantz H, Schreiber T (1997) Nonlinear time series analysis. Cambridge University Press, Cambridge

    MATH  Google Scholar 

  • Kawasaki H, Shimomura H, Shimizu Y (2001) Educational-industrial complex development of an anthropomorphic robot hand ‘Gifu hand’. Adv Robot 15:357–363

    Article  Google Scholar 

  • Kennel MB, Brown R, Abarbanel HDI (1992) Determining embedding dimension for phase space reconstruction using a geometrical construction. Phys Rev A 45:3403–3411

    Article  Google Scholar 

  • Lovchik C, Aldridge H, Diftler M (1999) Design of the NASA robonaut hand. In: Proceedings of the ASME dynamics and control division, DSC vol 67, Nashville, Tennessee

    Google Scholar 

  • Marghitu DB, Hobatho MC (2001) Dynamics of children with torsional anomalies of the lower limb joints. Chaos Solitons Fractals 12:2411–2419

    Article  MATH  Google Scholar 

  • Miyoshi T, Murata A (2000) Chaotic properties of rhythmic forearm movement, systems, man, and cybernetics. In: Proceedings of the IEEE international conference, Nashville, TN, USA, pp 2234–2239

    Google Scholar 

  • Packard NH, Crutchfield JP, Farmer JD, Shaw RS (1980) Geometry from a time series. Phys Rev Lett 45:712–716

    Article  Google Scholar 

  • Perc M (2005) The dynamics of human gait. Eur J Phys 26:525–530

    Article  MATH  MathSciNet  Google Scholar 

  • Pisla D, Gherman N et al (2012) Kinematic modeling of a 5-DOF hybrid parallel robot for laparoscopic surgery. Robotica 30(7):1095–1107

    Article  Google Scholar 

  • Pisla D, Szilaghyi A, Vaida C, Plitea N (2013) Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery. Robot Comput Integr Manuf 29(2):463–474

    Article  Google Scholar 

  • Plitea N, Hesselbach J, Pisla D et al (2009) Dynamic analysis and design of a surgical parallel robot used in laparoscopy. J Vibroengineering 11(2):215–225

    Google Scholar 

  • Sandler BZ (1999) Robotics. Designing the mechanisms for automated machinery. Academic Press, Waltham

    Google Scholar 

  • Sundar N (1984) Dexterous robotic hands: kinematics and control, Ph.D. Thesis, MIT Artificial Intelligence Laboratory

    Google Scholar 

  • Takens F (1981) Detecting strange attractors in turbulence. In: Rand DA, Young LS (eds) Lecture notes in mathematics. Springer, Berlin, pp 366–381

    Google Scholar 

  • Tarnita D, Catana M, Tarnita DN (2013) Nonlinear analysis of normal human gait for different activities with application to bipedal locomotion. Rev Roum Sci Tech Mec Appl 58(1–2), Special issue “New trends in advanced robotics”, 173–188

    Google Scholar 

  • Toth-Tascau M, Pater F, Stoia DI, et al (2011) Inverse kinematic analysis of human hand thumb model. In: Proceedings of the international conference on numerical analysis and applied mathematics, Halkidiki, Greece, 1389, pp 1305–1308

    Google Scholar 

  • Van der Wel RPR, Sternad D, Rosenbaum DA (2010) Moving the arm at different rates: slow movements are avoided. J Mot Behav 42(1):26–36

    Google Scholar 

  • Van Mourik AM, Daffertshofer A, Beek PJ (2006) Deterministic and stochastic features of rhythmic human movement. Biol Cybern 94:233–244

    Article  MATH  Google Scholar 

  • Wolf A, Steinmann R, Schunk H (2005) Grippers in motion. The fascination of automated handling tasks. Springer, Berlin

    Google Scholar 

  • Zecca M, Micera S et al (2002) Control of multifunctional prosthetic hands by processing the electromyographic signal. Crit Rev Biomed Eng 30(4–6):459–485

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Applied Mechanics, University of Craiova, Craiova, Romania

    Daniela Tarnita & C. Berceanu

Authors
  1. Daniela Tarnita
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. C. Berceanu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Daniela Tarnita .

Editor information

Editors and Affiliations

  1. Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  2. LSRO - Robotic Systems Laboratory, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland

    Hannes Bleuler

  3. Robotics Laboratory, Mihailo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodic

  4. Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Calin Vaida

  5. Design Engineering and Robotics Dept, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Adrian Pisla

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Tarnita, D., Berceanu, C. (2014). Comparison of Human and Artificial Finger Movements. In: Pisla, D., Bleuler, H., Rodic, A., Vaida, C., Pisla, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-01592-7_16

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-01592-7_16

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-01591-0

  • Online ISBN: 978-3-319-01592-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation