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

$\begin{array}{l}{L}_{m}=P\hfill \\ {L}_{i}=\sqrt{{p}^{2}+{d}_{1}^{2}}={L}_{2}\hfill \\ {L}_{l}=\sqrt{{p}^{2}+{\left({d}_{1}+{d}_{2}\right)}^{2}}={L}_{3}\hfill \end{array}$

4o

q 4o

0

0

900

5o

q 5o

d 5

f 1o

00

6o

q 6o

0

f 2o

00

$\begin{array}{c}{L}_{o}=\sqrt{{\left(\frac{p}{2}\right)}^{2}+{\left({d}_{1}+{d}_{2}\right)}^{2}}\\ {d}_{3},{d}_{5}=negatives\end{array}$

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.