Research On Anthropomorphic Hand Design Method Based On Human-hand Morphological Characteristics

The human hand is an important actuator of human,and its role in daily dexterous grasping operation is unquestionable,and the thumb plays an indispensable role.How to determine the morphological parameters of anthropomorphic hand to make it have the human natural grasping behaviors is one of the difficult problems in the field of research on the reconstruction of human hand movement function by engineering science.In response to this difficult problem,this paper proposes a method to determine the relative position of the digits in the anthropomorphic hand.The main work completed by this paper and the main achievements are as follows:1)Combining the morphological experiment of the human hand,the statistical analysis of the proportional relationship of the phalanx length of human hand is carried out,and the proportional relationship of the phalanx length of different finger is found,which provides a theoretical basis for the anthropomorphic design of robot dexterous hand fingers.2)The distribution of the five digits of the human finger is analyzed quantificationally,and the distribution of the relative position of the five fingers at the 99% confidence level is got by using the T test to estimate the mean value of the relative position of the five fingers of the human hand.The distribution interval of the anthropomorphic hand is determined by combining the length of the anthropomorphic hand's middle finger and the width of the anthropomorphic hand's palm.3)The distribution law of human hand's joint angle when human hand performing thumb-finger opposability is analyzed,and the evaluation method for evaluating the ability of performing thumb-finger opposability and the improved evaluation index for evaluating the ability of performing thumb-finger opposability are proposed,which provided a theoretical basis for determination of the position of the anthropomorphic hand's five digits.4)The DSP-based embedded control system is designed,which provides a software and hardware platform for the realization of EMG control scheme and data glove control scheme.The Kapandji test showed that the anthropomorphic hand we design has dexterous grasping ability,and the grasping operation experiments verified the reliability of the control system of the anthropomorphic hand.