3D active workspace of human hand anatomical model

Table 1 The geometrical parameters of the proposed hand model

*Thumb*					*Other finger*
No.	θ _i	d _i	L _i	α _i	No.	θ _i	d _i	L _i	α _i
(1)	(2)	(3)	(4)	(5)	(6)	(7)	(8)	(9)	(10)
1	q ₁	0	0	90⁰	1	q ₁	0	0	90⁰
2	q ₂	0	0	90⁰	2	q ₂	0	0	90⁰
3o	q _3o	d ₃	L _o= L ₁	-90⁰	$\begin{array}{l} L_{m} = P \\ L_{i} = \sqrt{p^{2} + d_{1}^{2}} = L_{2} \\ L_{l} = \sqrt{p^{2} + {(d_{1} + d_{2})}^{2}} = L_{3} \end{array}$
4o	q _4o	0	0	90⁰
5o	q _5o	d ₅	f _1o	0⁰
6o	q _6o	0	f _2o	0⁰
$\begin{matrix} L_{o} = \sqrt{{(\frac{p}{2})}^{2} + {(d_{1} + d_{2})}^{2}} \\ d_{3}, d_{5} = n e g a t i v e s \end{matrix}$					3 k	q _3k	0	L _k	0⁰
					4k	q _4k	0	0	-90⁰
					5k	q _5k	0	f _1k	0⁰
					6k	q _6k	0	f _2k	0⁰
					7k	q _7k	0	f _3k	0⁰
					k = m for the middle finger k = i for index and ring finger k = l for pinky

The table contains the geometrical parameters for every kinematical chain of the proposed model. These were obtained based on Denavit-Hartenberg convention from Figure 1.

ISSN: 1475-925X