Simulation of human hands movements using forward kinematics

Abstract

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.