Manalee Dev Sharma
ABSTRACT
Although a number of prosthetic hands have been reported, anthropomorphic control is still a challenge. Precise determination of human hand kinematics will certainly enhance the control for prosthetic hands. One of the ways to push the research forward is to measure and visualize the human hand kinematics in real-time during grasping operations. This paper reports the development of a data glove that can measure human hand finger joint kinematics. The measured hand kinematics is visualized for 16 grasp types, adopted from Cutkosky's grasps taxonomy, in SynGrasp MATLAB toolbox. The glove can measure the finger joint angles with an accuracy±standard deviation for metacarpophalangeal (MCP)±4°, proximal inter phalangeal (PIP)±2° and distal inter phalangeal (DIP)±2° during flexion/ extension and abduction/ adduction.
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