Simulation of human hands movements using forward kinematics

Sousa, Ingrid Miranda de; Trindade, Joel Lucas de Jesus Trindade; Idrobo Pizo, Gerardo Antônio

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Campo DC	Valor	Idioma
dc.contributor.author	Sousa, Ingrid Miranda de	-
dc.contributor.author	Trindade, Joel Lucas de Jesus Trindade	-
dc.contributor.author	Idrobo Pizo, Gerardo Antônio	-
dc.date.accessioned	2019-11-29T12:32:45Z	-
dc.date.available	2019-11-29T12:32:45Z	-
dc.date.issued	2019	-
dc.identifier.citation	SOUSA, Ingrid Miranda de; TRINDADE, Joel Lucas de Jesus Trindade; PIZO, Gerardo Antônio. Simulation of human hands movements using forward kinematics. In: CONGRESSO BRASILEIRO DE ENGENHARIA BIOMÉDICA, 26., 2018, Búzios - RJ. IFMBE Proceedings, vol 70/1. Springer, Singapore.	pt_BR
dc.identifier.uri	https://repositorio.unb.br/handle/10482/35899	-
dc.language.iso	Inglês	pt_BR
dc.publisher	Springer, Singapore	pt_BR
dc.rights	Acesso Restrito	pt_BR
dc.title	Simulation of human hands movements using forward kinematics	pt_BR
dc.type	Trabalho	pt_BR
dc.subject.keyword	Mãos	pt_BR
dc.subject.keyword	Cinemática	pt_BR
dc.subject.keyword	Simulação	pt_BR
dc.subject.keyword	Robótica	pt_BR
dc.rightsholder	© Springer Nature Singapore Pte Ltd. 2019	-
dc.identifier.doi	https://doi.org/10.1007/978-981-13-2119-1_108	pt_BR
dc.relation.publisherversion	https://link.springer.com/chapter/10.1007%2F978-981-13-2119-1_108	pt_BR
dc.description.abstract1	The human hand is one of the human body extremities that allows to perform numerous movements to accomplish tasks. This paper presents the mathematical model of forward kinematics and the first results of the human hand simulation using computational tools as Matlab, which allows to represent of the movements in 3D. The equations used are based on Denavit-Hartenberg convention, where a homogeneous transformation matrix is determined that relates position values of the end ends of the fingers with the angular position values of the phalanges. The results provide a series of information and recommendations that can be used in the biomechanical study of the hand. The mathematical model serves as complementary information in the gesture recognition process. Helping to solve diverse singularities of possible positions of the fingers when they are not clearly identified in images of intensity for recognition of gestures translated into text or voice.	pt_BR
dc.description.unidade	Faculdade UnB Gama (FGA)	-
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