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Screw Displacement and Its Application to the In Vivo Identification of Finger Joint Axes

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11740))

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Abstract

This paper provides the exponential derivation of screw displacement and its application in the identification of rotation axes of finger joints. Expressions of screw displacement, including the Rodrigues’ formulae for rotation and general spatial displacement, are derived in details with matrix exponential method in a note form. Then an in vivo approach based on a gyroscope sensor and Arduino board is proposed to determining the joint axes of human finger. The experimental results are feasible comparison with the results obtained through traditional methods in literature.

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Author information

Authors and Affiliations

  1. School of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, M13 9PL, UK

    Yiming Zhu & Lei Ren

  2. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, 410073, People’s Republic of China

    Zirong Luo

  3. School of Computing, Science and Engineering, University of Salford, Salford, M5 4WT, UK

    Guowu Wei

Authors
  1. Yiming Zhu
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  2. Zirong Luo
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  3. Guowu Wei
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  4. Lei Ren
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Corresponding author

Correspondence to Guowu Wei .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Zhu, Y., Luo, Z., Wei, G., Ren, L. (2019). Screw Displacement and Its Application to the In Vivo Identification of Finger Joint Axes. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_13

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  • DOI: https://doi.org/10.1007/978-3-030-27526-6_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27525-9

  • Online ISBN: 978-3-030-27526-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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