Assessment of human hand kinematics

In the paper we propose a method for assessment of hand motion which is based on optical tracking system and parametric model of a hand. The model was scaled according to hand external dimensions of each individual. Optical tracking device was used for model validation which was made for middle and index finger. The algorithms for calculation of hinge joint axis of rotation and ball joint center of rotation were employed. The joint angles were obtained in two ways, from known centers of joint rotation and by solving inverse kinematics for finger from given positions of fingertips. The lengths of finger segments, calculated by using data from statistical anthropometry, do not differ notably from the lengths obtained from calculated centers of rotation of joints. The angles obtained by inverse kinematics are comparable to the angles obtained from estimated centers of rotation. Minimalistic approach makes the method suitable for calibration of a sensor glove