Imperial College London

Dr Nicolas Rojas

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

n.rojas

 
 
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Location

 

Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Rojas:2017:10.1109/ICORR.2017.8009433,
author = {Rojas, N and Dollar, AM},
doi = {10.1109/ICORR.2017.8009433},
publisher = {IEEE},
title = {Distance-based kinematics of the five-oblique-axis thumb model with intersecting axes at the metacarpophalangeal joint},
url = {http://dx.doi.org/10.1109/ICORR.2017.8009433},
year = {2017}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - This paper proposes a novel and simple methodto compute all possible solutions of the inverse kinematicsproblem of the five-oblique-axis thumb model with intersectingaxes at the metacarpophalangeal joint. This thumb model isone of the suggested results by a magnetic-resonance-imaging-based study that, in contrast to those based on cadaver fingersor on the tracking of the surface of the fingers, takes intoaccount muscle and ligament behaviors and avoids inaccuraciesresulting from the movement of the skin with respect to thebones. The proposed distance-based inverse kinematics methodeliminates the use of arbitrary reference frames as is usuallyrequired by standard approaches; this is relevant because thenumerical conditioning of the resulting system of equationswith such traditional approaches depends on the selectedreference frames. Moreover, contrary to other parametrizations(e.g., Denavit-Hartenberg parameters), the suggested distance-based parameters for the thumb have a natural, human-understandable geometric meaning that makes them easier tobe determined from any posture. These characteristics makethe proposed approach of interest for those working in, forinstance, measuring and modeling the movement of the humanhand, developing rehabilitation devices such as orthoses andprostheses, or designing anthropomorphic robotic hands.
AU - Rojas,N
AU - Dollar,AM
DO - 10.1109/ICORR.2017.8009433
PB - IEEE
PY - 2017///
TI - Distance-based kinematics of the five-oblique-axis thumb model with intersecting axes at the metacarpophalangeal joint
UR - http://dx.doi.org/10.1109/ICORR.2017.8009433
UR - http://hdl.handle.net/10044/1/48268
ER -