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Table 2 Fingertips' coordinates and joints variables in particular positions of the model

From: 3D active workspace of human hand anatomical model

Pos. Finger Fingertips coordinates[cm] Joints variables[0]
   X y z q 1 q 2 q 3 q 4 q 5 q 6 q 7
I 1 4.69 8.63 0.01 80.00 0.00 0.00 15.00 35.00 10.00 -
  2 4.67 8.86 0.06 80.00 0.00 0.00 10.00 62.00 60.00 30.00
  3 4.66 8.97 0.00 80.00 0.00 0.00 0.00 53.00 80.00 30.00
  4 4.82 8.90 -0.17 80.00 0.00 0.00 -10.00 62.00 60.00 40.00
  5 4.68 8.94 -0.07 80.00 0.00 0.00 -15.00 80.00 20.00 35.00
II 1 4.45 7.24 -0.19 80.00 0.00 0.00 15.00 61.00 10.00 -
  2 3.94 8.12 1.77 80.00 0.00 0.00 5.00 65.00 75.00 25.00
  3 3.85 8.13 -0.00 80.00 0.00 0.00 0.00 60.00 90.00 30.00
  4 3.75 8.12 -1.77 80.00 0.00 0.00 -5.00 66.00 75.00 45.00
  5 2.55 8.12 -3.42 80.00 0.00 0.00 -7.00 63.00 80.00 45.00
III 1 9.69 2.38 -0.43 15.00 30.00 10.00 0.00 15.00 10.00 -
  2 12.68 1.14 -1.03 15.00 30.00 10.00 0.00 40.00 45.00 25.00
  3 8.80 0.19 -1.85 15.00 30.00 10.00 0.00 60.00 90.00 30.00
  4 8.48 0.18 -3.56 15.00 30.00 10.00 0.00 65.00 75.00 45.00
  5 7.15 0.48 -5.20 15.00 30.00 10.00 0.00 70.00 80.00 45.00
  1. The table contains the fingertips' coordinates and the values of joints variables assuring the positions in Figures 7, 8, and 9. It can be seen that all of them are inside the active workspace.