Screw Displacement and Its Application to the In Vivo Identification of Finger Joint Axes

This paper provides the exponential derivation of screw displacement and its application in the identification of rotation axes of finger joints. Expressions of screw displacement, including the Rodrigues’ formulae for rotation and general spatial displacement, are derived in details with matrix exponential method in a note form. Then an in vivo approach based on a gyroscope sensor and Arduino board is proposed to determining the joint axes of human finger. The experimental results are feasible comparison with the results obtained through traditional methods in literature.