#robotics

Humanoid

Concepts

Freedom of Human body

名词定义

• Anatomical Terms of Movement
• The degrees of freedom (DoF), and the anatomical segments of the Rugby Model
• Spine Movements

• Abduction is movement away from the body midline, while adduction is movement toward the body.

• Medial and Lateral Rotation: Medial rotation is a rotational movement towards the midline. Lateral rotation is a rotational movement away from the midline.

  

• Flexion is the motion that reduces the angle between body parts, bringing them closer together. Extension is the opposite movement that increases the angle between body parts, moving them further away from each other.

  

• Elevation and Depression: Elevation refers to movement in a superior direction (e.g. shoulder shrug), depression refers to movement in an inferior direction. 通常我们认为人形机器人的肩部是一个球关节，拥有三个旋转自由度。但是对于人类而言，人类的肩部并不是固定的，肩部有一个相对于躯干可以上下浮动的基座，这就是“Elevation”和“Depression”。并且在事实上，肩部的浮动基座是在多个方向上均可以位移的，只是在上下方向尤其明显。

• Pronation and Supination: Pronation is the rotation of the forearm and hand so that the palm faces backwards or downwards. Supination is the rotation of the forearm and hand so that the palm faces forwards or upwards. 也就是专指前臂的旋转。之所以为前臂的旋转专门定义一组名词，我认为是因为人类的前臂旋转是通过两根骨头的旋转来实现的，这和我们一般认为的其他关节的一根连杆绕着某个轴旋转是不一样的。

人体自由度与机器人自由度

手部

Finger Anatomy, Bones, Joints, Muscle Movements and Nerves

Finger Bones

• Proximal phalanx is the first finger bone lying next to the palm.
• Intermediate phalanx is the middle finger bone which is absent in the thumb.
• Distal phalanx is the last finger bone lying furthest away from the hand.

Finger Joints

• The first IP joint between the proximal and intermediate phalanges is known as the proximal interphalageal joint (PIP joint).
• The second IP joint between the intermediate and distal phalanges is known as the distal interphalangeal joint (DIP joint).