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为了研究人手运动结构模式的内在规律,选取食指触点动作为研究对象,对其空间运动轨迹进行快速摄像记录和分析,通过将不同样本运动轨迹归一化处理和选定参数化指标体系,对人手运动结构模式进行主元分析。分析表明:食指触点运动过程中指尖、关节的空间轨迹具有相对固定的结构模式,反映人手在慢速、快速运动中均具有普遍相似的协调规律;人手运动的速度变化、姿态调整与外界空间的状态和所需完成的操作任务有较强的相关性。主元分析法为研究人手的协调规律和机器人冗余运动协调控制提供了新的理论和方法。
In order to study the inherent laws of the pattern structure of the human hand movement, the index finger touch action is selected as the research object, the space motion trajectory is recorded and analyzed quickly, and the parameter trajectories of different samples are normalized and selected. Manpower movement structure model for the principal component analysis. The analysis shows that the spatial trajectory of fingertips and joints has a relatively fixed structure pattern during the movement of the index finger, which shows that the hand movements are generally similar in both slow and fast movements. The velocity changes, the attitude adjustment and the external space The state and the required completion of the operation of the task has a strong correlation. The principal component analysis provides a new theory and method for the study of coordination rules of manpower and coordinated control of robot redundant movement.