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Mathematical modeling and trajectory planning of hand finger movements

Rahman, Md. Mozasser and Choudhury, Tasnuva Tabashhum and Sidek, Shahrul Na'im and Awang, Amjad (2014) Mathematical modeling and trajectory planning of hand finger movements. In: UKSim-AMSS 1st International Conference on Systems Informatics, Modelling and Simulation, 29 Apr.-1 May 2014, Sheffield University, United Kingdom.

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Abstract

This paper presents a mathematical model of trajectory during movement of human hand finger. Mathematical models of finger’s movement are necessary to control the finger of prosthetic hands, rehabilitation platform, and hand of cooperative robots. A simple platform is constructed with flexi force sensor and data acquisition circuit. Trajectories are calculated from the position data of the finger movement. Movement with various speed of the finger are maintained. Finally, Curve Fitting Toolbox of MATLAB is used to derive the mathematical model of finger trajectory. The obtained result could be beneficial to design the controller of the finger of prosthetic hands, rehabilitation platform, and hand of cooperative robots.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Additional Information: 5663/36716 (ISBN: 9780769551982, DOI: 10.1109/SIMS.2014.I8)
Uncontrolled Keywords: Fingertip trajectory, Prosthetic hand, Rehabilitation of Human hands, Hand of cooperative robot.
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Md Mozasser Rahman
Date Deposited: 26 May 2014 09:03
Last Modified: 19 Jun 2018 16:15
URI: http://irep.iium.edu.my/id/eprint/36716

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