Analysis and prediction of multi-joint coupling torque of fingers

• Published in: IET Conference Proceedings
• Main Authors: Yu, Jinxu, Lin, Zheng, Bai, Xiaolin, Du, Yihao, Zhang, Lijie, Xie, Ping
• Format: Conference Proceeding
• Language: English
• Published: Stevenage The Institution of Engineering & Technology 18.11.2019
• Subjects: Coupling; Finger jointing; Joining; Joints (anatomy); Muscles; Muscular function; Parameter identification; Root-mean-square errors; Torque
• ISBN: 9781839534430; 1839534435
• DOI: 10.1049/cp.2019.1193

In this paper, a method of analysis and modelling of multi-joint coupling torque of finger is proposed, which can be used to predict the multi-joint coupling torque of finger in real time. Firstly, through the analysis of muscle contraction dynamics and muscle activation dynamics, the single joint neuromusculoskeletal model of finger was established, and the joint torques of metacarpophalangeal (MCP) joint, proximal interphalangeal (PIP) joint and distal phalangeal (DP) joint were solved. Then, the finger D-H model was established, and the joint torques of MCP joint and PIP joint were equivalent to the point of DP joint by the principle of virtual work. The multi-joint neuromusculoskeletal model of the finger is established, and the coupling torque of the whole finger during flexion and extension is obtained. Finally, 17 parameters in the finger multi-joint neuromusculoskeletal model were identified, and data acquisition experiments were set up. The model prediction torque and software simulation torque were compared, and the root mean square error (RMSE) of the coupling torque is 0.3275, which indicates that the model has a good effect in predicting the finger joint torque and the multi-joint coupling torque.