HUMAN AND ROBOT FINGER KINEMATIC ANALYSIS USING WAVELET THEORY

Cosmin BERCEANU, Cristian CHIHAIA, Dan B. MARGHITU, Daniela TARNITA

Abstract


In this paper we analyze the kinematics of the human finger joints versus an anthropomorphic robotic finger using wavelet theory. As such, we propose an approach to evaluate the kinematics of both human and a robotic finger joins by using the decomposition of the signal and comparing the detail energy levels. The results show that the detail energy of the signal corresponding to level 5 for robot finger is much lower than the similar energy of human joint finger.

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