Development of Kinematic Model of the Hand in Omniverse

11.03.2025, Abschlussarbeiten, Bachelor- und Masterarbeiten

Abstract

This project aims to develop a scalable digital twin of the human hand for robotic training purposes in Omniverse. The resulting model will be used to train actuation methods for wearable robotics and interactive robotics.

Project Description

The objective of this student thesis is to develop a kinematic model of the human hand that can serve as a digital twin for robotic training purposes. To fit all possible patients, the model must be adaptable to certain conditions and scalable without losing its kinematic accuracy. The model needs to be created in Isaac Sim (part of Omniverse). In the end, the digital twin needs to be able to act as a robotic agent which can be controlled in Isaac Sim.
In case of this project is handed out as a master thesis, the project’s scale will increase appropriately.

Key research areas include:

• Creation of accurate digital twins of human joints
• Development within simulations environments for robotic learning

Technical Prerequisites

• Experience with simulation tools like Mujoco and ideally Omniverse/Isaac Sim
• Experience or a willingness to learn about the kinematics of human joints
• Experience with Python and C/C++
• Experience with game engines helpful
• Experience or a willingness to learn about the kinematics of human joints

Please send your transcript of records, CV and motivation to: Victor Schaack (vic.schaack@tum.de) with CC to hex-thesis.ortho@mh.tum.de

Literatur
Lee, K.-S., & Jung, M.-C. (2015). Ergonomic Evaluation of Biomechanical Hand Function. Safety and Health at Work, 6(1), 9–17. https://doi.org/10.1016/j.shaw.2014.09.002
Chen Chen, F., Appendino, S., Battezzato, A., Favetto, A., Mousavi, M., & Pescarmona, F. (2013). Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics. Journal of Robotics, 2013, 1–17. https://doi.org/10.1155/2013/910961
Cobos, S., Ferre, M., Sanchez Uran, M. A., Ortego, J., & Pena, C. (2008). Efficient human hand kinematics for manipulation tasks. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2246–2251. https://doi.org/10.1109/IROS.2008.4651053
Gustus, A., Stillfried, G., Visser, J., Jörntell, H., & Van Der Smagt, P. (2012). Human hand modelling: kinematics, dynamics, applications. Biological Cybernetics, 106(11–12), 741–755. https://doi.org/10.1007/s00422-012-0532-4
Ahmed, N., Afyouni, I., Dabool, H., & Al Aghbari, Z. (2024). A systemic survey of the Omniverse platform and its applications in data generation, simulation and metaverse. Frontiers in Computer Science, 6. https://doi.org/10.3389/fcomp.2024.1423129
Possible Resources:
https://developer.nvidia.com/isaac/sim
https://developer.nvidia.com/isaac/lab
https://docs.isaacsim.omniverse.nvidia.com/latest/index.html
https://docs.omniverse.nvidia.com/isaacsim/latest/features/warehouse_logistics/ext_omni_anim_people.html

Kontakt: hex-thesis.ortho@mh.tum.de, vic.schaack@tum.de