抓取过程中的手部运动变形特征实验研究
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东南大学土木工程学院工程力学系

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国家自然科学基金项目(11902074)


Experimental Study on the Deformation Characteristics of Hand Movement During Grasping
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Department of Engineering Mechanics,School of Civil Engineering,Southeast University,Nanjing

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    摘要:

    目的 基于多相机数字图像相关方法,研究人手在抓取运动中的动态变形特征。方法 搭建连续型四相机数字图像相关系统,测量抓取过程中手背皮肤的表面应变,再通过皮肤、关节、骨骼和肌肉之间的联系,间接地掌握其肌肉变形规律。结果 应变云图显示,不同抓取姿态下手背表面不同位置的应变增幅不同,其中最大主应变大小在0.1至0.3个应变之间。通过分析可以得到手部各肌肉群在不同抓取姿态下的运动特点。结论 此方法具有非接触、全场化、结果直观等特点,为抓取过程中动态变形的在体测量提供了一种新的途径。

    Abstract:

    Objective Based on the multi-camera digital image correlation method, the dynamic deformation mechanism of the human hand in the grasping motion is studied. Methods Build a continuous four-camera digital image correlation system to measure the three-dimensional displacement and surface strain of the skin on the back of the hand during the grasping process, and then indirectly master the muscle deformation laws through the connection between the skin, joints, bones and muscles. Results The strain cloud chart shows that the strain increase differently at different positions on the back surface of the hand under different grasping postures, and the maximum principal strains are between 0.1 and 0.3 strain. This method can obtain the movement characteristics of each muscle group of the hand in different grasping postures. Conclusions This method has the characteristics of non-contact, full field, intuitive results, etc. It provides a new way for in-vivo measurement of dynamic deformation during grasping.

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  • 收稿日期:2020-06-15
  • 最后修改日期:2020-08-21
  • 录用日期:2020-08-24
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