Modeling and Parameter Estimation of the Human Index Finger

Precise teleoperation of deztrous robotic hands b y hand masters requires an accurate human hand model. A kinematic model of a human index finger is developed as an example for human hand modeling. The parameters of the model are determined b y open-loop kinematic calibration. Singular value decomposition is used as a tool for analyzing the kinematic model and the identification process. Accurate and reliable results are obtained only when the numerical condition is minimized through parameter scaling, model reduction and pose set selection. The identified kinematic parameters show the kinematic model and calibration procedure have an accuracy on the order of a few millim. et e rs.