{"id":105608,"date":"2018-03-11T10:29:14","date_gmt":"2018-03-11T10:29:14","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/analisis-de-tareas-de-manipulacion-virtual-basadas-en-modelos-reducidos-de-la-mano-humana\/"},"modified":"2018-03-11T10:29:14","modified_gmt":"2018-03-11T10:29:14","slug":"analisis-de-tareas-de-manipulacion-virtual-basadas-en-modelos-reducidos-de-la-mano-humana","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/robotica\/analisis-de-tareas-de-manipulacion-virtual-basadas-en-modelos-reducidos-de-la-mano-humana\/","title":{"rendered":"An\u00e1lisis de tareas de manipulaci\u00f3n virtual basadas en modelos reducidos de la mano humana"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Salvador Cobos Guzman <\/strong><\/h2>\n<p>Esta tesis doctoral, presenta an\u00e1lisis de tareas de manipulaci\u00f3n virtual basadas en modelos completos y modelos reducidos de la mano humana. Un modelo de mano humana compuesto por 24 grados de libertad (gdl) y 19 eslabones es dise\u00f1ado. El modelo cinem\u00e1tico implementado es dise\u00f1ado gracias al estudio fisiol\u00f3gico y anat\u00f3mico de la mano humana. Este modelo satisface razonablemente simulaciones realistas y movimientos dentro del rango natural de cada dedo. Para lograr lo anterior, un guante &#8216;cyberglove&#8217; es usado para medir los rangos de movimiento de cada articulaci\u00f3n a trav\u00e9s de un proceso de calibraci\u00f3n.  los modelos reducidos de mano o modelos simplificados de mano se obtienen reconstruyendo la postura de la mano usando restricciones inter-fal\u00e1ngicas e intra-fal\u00e1ngicas. Estos modelos han sido probados para diferentes tipos de manipulaci\u00f3n p. Ej.  Agarres de precisi\u00f3n\/destreza o agarres de fuerza\/potencia. El error obtenido en la reconstrucci\u00f3n de la postura de la mano es medido para diferentes configuraciones de gdl. De esta manera, se analiza el mejor descriptor para un tipo espec\u00edfico de manipulaci\u00f3n.   para determinar que grados de libertad son los m\u00e1s importantes, un an\u00e1lisis basado en acp (an\u00e1lisis de componentes principales) es implementando. Adem\u00e1s, acp y un an\u00e1lisis can\u00f3nico discriminante son usados para realizar un reconocimiento de gestos para diferentes tipos de agarre.  finalmente, otro an\u00e1lisis basado en manos rob\u00f3ticas es realizado para comparar los dedos y grados de libertad m\u00e1s importantes para determinar qu\u00e9 tipos de manos o configuraciones son las m\u00e1s apropiadas para una manipulaci\u00f3n. Comparando en una aproximaci\u00f3n cinem\u00e1tica modelos completos y modelos simplificados de mano humana con algunos modelos de manos rob\u00f3ticas dise\u00f1adas por universidades y empresas.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>An\u00e1lisis de tareas de manipulaci\u00f3n virtual basadas en modelos reducidos de la mano humana<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 An\u00e1lisis de tareas de manipulaci\u00f3n virtual basadas en modelos reducidos de la mano humana <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Salvador Cobos Guzman <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 13\/12\/2010<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Rafael Aracil Santonja<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Antonio Barrientos cruz <\/li>\n<li>Jos\u00e9 Mar\u00eda Azorin poveda (vocal)<\/li>\n<li>Antonio Gimenez fernandez (vocal)<\/li>\n<li>raul Mar\u00edn prades (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Salvador Cobos Guzman Esta tesis doctoral, presenta an\u00e1lisis de tareas de manipulaci\u00f3n virtual basadas en modelos completos [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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