Graduation Semester and Year
2018
Language
English
Document Type
Thesis
Degree Name
Master of Science in Mechanical Engineering
Department
Mechanical and Aerospace Engineering
First Advisor
Panayiotis S Shiakolas
Abstract
The human thumb is the first digit of the hand and influences the grasping capability of the human hand. Based on literature, most sensor gloves available capture the motion of the fingers, however, they lack the ability to capture the motion of the thumb. This research focuses on developing a methodology and associated hardware to capture the complex joint motion of the thumb and map it to an in-house developed multi-degree of freedom robotic thumb. A sensor device was developed to measure four joint angles of the human thumb, namely three flexion/extension (flex/ext) joint angles of carpometacarpal (CMC), metacarpophalangeal (MCP), and interphalangeal (IP) joints, and one abduction/adduction (abd/add) of CMC joints. A kinematic model was developed to map the measured joint angles to a robotic thumb by implementing numerical inverse kinematic approach. The sensor device was used to control the simulated model of the robotic thumb. Additionally, telemanipulation of the robotic hand was implemented using the developed sensor device along with the already developed flex-glove. The developed sensor hardware and methodology could measure the human thumb motion and control the in-house developed robotic thumb.
Keywords
Artificial thumb, Forward kinematics, Inverse kinematics, Human thumb motion capture
Disciplines
Aerospace Engineering | Engineering | Mechanical Engineering
License
This work is licensed under a Creative Commons Attribution-NonCommercial-Share Alike 4.0 International License.
Recommended Citation
Abdul Rahaman, Abdul Hafiz, "ON THE DEVELOPMENT OF A HUMAN THUMB TRACKING DEVICE FOR TELEMANIPULATION" (2018). Mechanical and Aerospace Engineering Theses. 900.
https://mavmatrix.uta.edu/mechaerospace_theses/900
Comments
Degree granted by The University of Texas at Arlington