Biotechnology is a science that is growing rapidly. The objective of this project is to advance in the field. Specifically it aims to study applications of kinematics in the field of human-machine interfaces namely exoskeleton and prosthesis designs for the human hand. The methodology used in this project consists of three phases. First a theoretical model of the hand kinematics is defined from medical literature. This is done by synthesizing the hand into its simplified parameters to define a robotic model. The adjustment of the theoretical model to a hand is then done by capturing the movement using computer vision. This is done by using markers on each nail to be able to estimate their poses which consist of their spatial orientation and position. This sequence permits estimating the movement of the entire hand. Dimensional kinematic synthesis is finally applied to adapt the theoretical model to the dataset provided by computer vision. This is done by defining the equations of the movement of the theoretical hand model and is then solved by a numerical solver. This allows the creation of a persona-lized hand model that can then be used for the study of correspondences between electromyography (EMG) and the movements of the hand. In conclusion, this project has designed a robust algorithm for the tracking and estimation of the poses of the nails of the hand. It has also defined the movement equations and created an application to solve them. This has led to the nding of many nonanthropomorphic models that can be of use in the design of exoskeletons.

Категория: Научные статьи | Нет комментариев »

Комментарии