Figure 6
Projection of the hand model active workspace in the plane orthogonal on the abduction-adduction motion axis when the assembly palm-fingers is stiffened. The complex surface covering a simplified active workspace is described by the fingers' tips in abduction-adduction motion (only joint 3 is moving). All fingers' configurations are placed in the x < 0 regions, normal for the case when the palm is moving in the horizontal plane and the phalanges could be only below this one. The curves described by the fingertips during abduction-adduction, are circle arcs in planes parallels with x 0 O 0 z 0. There can be observed the independent trajectory of the thumb and the group of trajectories of the other fingers.