人手运动协调元空间及其在机器人控制中的应用

Based on the experiments and quantitative evaluation of the basic functional action in the daily life of human hand using a 3-D motion analysis system, the synergy space and the construction of the space as a new theory was proposed. The synergy space of human hand motion was developed through combining the notation of principal components with the selection theory. a new method of parametric description for human hand movements in the space had also been developed. Furthermore, using this method, the motion planning of the robotics dexterous hand was analyzed in the synergy space, the results showed that the implicit method can more greatly reduce the scanning range than the range of the other general way, increase enormously the real-time performance of motion control, and provided a new way for the studying of the robotics high redundancy motion control and motion planning..During the processing of the research, two original patents about the image detection platform for human 3-D movement experiment had been applied (all had been in publicity), and 15 manuscripts had been accepted or published (2 papers accepted by SCI, 5 papers accepted by EI, 2 papers accepted by ISTP, 2 doctorial theses and 2 theses for master's degree)..

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