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Table 1 The geometrical parameters of the proposed hand model

From: 3D active workspace of human hand anatomical 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 L m = P L i = p 2 + d 1 2 = L 2 L l = p 2 + ( d 1 + d 2 ) 2 = L 3 MathType@MTEF@5@5@+=feaafiart1ev1aaatCvAUfKttLearuWrP9MDH5MBPbIqV92AaeXatLxBI9gBaebbnrfifHhDYfgasaacH8akY=wiFfYdH8Gipec8Eeeu0xXdbba9frFj0=OqFfea0dXdd9vqai=hGuQ8kuc9pgc9s8qqaq=dirpe0xb9q8qiLsFr0=vr0=vr0dc8meaabaqaciaacaGaaeqabaqabeGadaaakeaafaqaaeWabaaabaGaemitaW0aaSbaaSqaaiabd2gaTbqabaGccqGH9aqpcqWGqbauaeaacqWGmbatdaWgaaWcbaGaemyAaKgabeaakiabg2da9maakaaabaGaemiCaa3aaWbaaSqabeaacqaIYaGmaaGccqGHRaWkcqWGKbazdaqhaaWcbaGaeGymaedabaGaeGOmaidaaaqabaGccqGH9aqpcqWGmbatdaWgaaWcbaGaeGOmaidabeaaaOqaaiabdYeamnaaBaaaleaacqWGSbaBaeqaaOGaeyypa0ZaaOaaaeaacqWGWbaCdaahaaWcbeqaaiabikdaYaaakiabgUcaRiabcIcaOiabdsgaKnaaBaaaleaacqaIXaqmaeqaaOGaey4kaSIaemizaq2aaSbaaSqaaiabikdaYaqabaGccqGGPaqkdaahaaWcbeqaaiabikdaYaaaaeqaaOGaeyypa0JaemitaW0aaSbaaSqaaiabiodaZaqabaaaaaaa@52CE@
4o q 4o 0 0 900      
5o q 5o d 5 f 1o 00      
6o q 6o 0 f 2o 00      
L o = ( p 2 ) 2 + ( d 1 + d 2 ) 2 d 3 , d 5 = n e g a t i v e s MathType@MTEF@5@5@+=feaafiart1ev1aaatCvAUfKttLearuWrP9MDH5MBPbIqV92AaeXatLxBI9gBaebbnrfifHhDYfgasaacH8akY=wiFfYdH8Gipec8Eeeu0xXdbba9frFj0=OqFfea0dXdd9vqai=hGuQ8kuc9pgc9s8qqaq=dirpe0xb9q8qiLsFr0=vr0=vr0dc8meaabaqaciaacaGaaeqabaqabeGadaaakeaafaqabeGabaaabaGaemitaW0aaSbaaSqaaiabd+gaVbqabaGccqGH9aqpdaGcaaqaamaabmaabaWaaSaaaeaacqWGWbaCaeaacqaIYaGmaaaacaGLOaGaayzkaaWaaWbaaSqabeaacqaIYaGmaaGccqGHRaWkcqGGOaakcqWGKbazdaWgaaWcbaGaeGymaedabeaakiabgUcaRiabdsgaKnaaBaaaleaacqaIYaGmaeqaaOGaeiykaKYaaWbaaSqabeaacqaIYaGmaaaabeaaaOqaaiabdsgaKnaaBaaaleaacqaIZaWmaeqaaOGaeiilaWIaemizaq2aaSbaaSqaaiabiwda1aqabaGccqGH9aqpcqWGUbGBcqWGLbqzcqWGNbWzcqWGHbqycqWG0baDcqWGPbqAcqWG2bGDcqWGLbqzcqWGZbWCaaaaaa@5276@ 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
  1. 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.