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Abstract：
The goal of this paper is twofold: firstly, to provide a novel mathematical model that describes the kinematic chain of motion of the human fingers based on Lagrangian mechanics with four degrees of freedom and secondly, to estimate the model parameters using data from able-bodied individuals. In the literature there are a variety of mathematical models that have been developed to describe the motion of the human finger. These models offer little to no information on the underlying mechanisms or corresponding equations of motion. Furthermore, these models do not provide information as to how they scale with different anthropometries. The data used here is generated using an experimental procedure that considers the free response motion of each finger segment with data captured via a motion capture system. The angular data collected are then filtered and fitted to a linear second-order differential approximation of the equations of motion. The results of the study show that the free response motion of the segments is underdamped across flexion/extension and ad/abduction.
摘要：
本文的目标是双重的：首先，为了提供一种新颖的数学模型，该模型基于具有四个自由度的拉格朗日力学来描述人类手指的运动链，其次，使用身体健全的个体的数据估计模型参数。在文献中,已经开发了多种数学模型来描述人类手指的运动。这些模型几乎没有提供有关潜在机制或相应运动方程的信息。此外，这些模型没有提供关于它们如何用不同的人体测量进行缩放的信息。这里使用的数据是使用实验程序生成的,该实验程序考虑每个手指段的自由响应运动以及经由运动捕获系统捕获的数据。然后对收集的角度数据进行滤波并拟合到运动方程的线性二阶微分近似。研究结果表明，节段的自由响应运动在屈曲/伸展和ad/外展上的阻尼不足。
