Title :
Relationship between model parameters and fingertip manipulation of a tendon-muscle driven system model
Author :
Chequer, Salvador Rivera ; Yokogawa, Ryuichi ; Tsumugiwa, Toiu ; Shibata, Hiroshi
Author_Institution :
Dept. of Energy & Mech. Eng., Doshisha Univ., Kyoto
Abstract :
This study presents the methodology to obtain moment arm values, tendon action lines and joint centers of an index finger to use them in a tendon driven system robot application. Based on MRI experiments an analysis is performed to study the influence the model parameters have on the manipulating force polygon.
Keywords :
biomechanics; biomedical MRI; dexterous manipulators; medical robotics; muscle; prosthetics; MRI; fingertip manipulation; force polygon; index finger; moment arm values; tendon action lines; tendon joint centers; tendon-muscle driven system model; Arm; Coils; Fingers; Injuries; Knee; Magnetic resonance imaging; Mechanical engineering; Robots; Tendons; X-ray imaging; MRI; index finger; manipulation; moment arm;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340375
