【摘要】 根据手指外科解剖学原理以及手指关节的运动特性 ,对单手指的抓取运动进行了分析 ,讨论了两种常见的运动规律的角位移、角速度和角加速度的特点。通过一个独特的实验 ,对手指运动过程的关节角位移进行了测定并对单手指关节转角运动进行解析模拟和对比 ,结果表明 ,关节转角的运动符合一定的运动规律。研究结果对手指的运动仿真和控制具有指导意义更多还原

【Abstract】 Based on the hand surgery anatomy and the kinematic characteristics of finger joints, the motion range of grasping objects for single finger was analyzed. Firstly, the characteristics of angular displacement, angular velocity and angular acceleration for two typical motion laws were discussed. And then, a special experiment was designed for describing the finger’s motion. The angular displacements of joints during the procedure of motion were measured. Finally, the movements of bending angles of single finger joint were analyzed and contrasted with two motions’ laws. The results show that the motions of the bending angular of joints agree well with certain motion laws. The results possess guidline value for the imitation and control of robotic finger’s motion.更多还原