This paper presents a SANTOS™ 25 degree-of-freedom (DOF) hand model and the forward and inverse kinematic analysis. The Denavit-Hartenberg (D-H) method is used to define the position of the end- effector (fingertip). In the SANTOS™ hand model each finger has different constraints and movements (e.g., the middle finger in distal Interphalangeal (DIP) joint can move in Flexion/Extension (F/E) with a range 0–100 degrees, and the thumb in interphalangeal (IP) joint can rotate in F/E with arrange of 15H/80). Including hand model SANTOS™ has over 100 DOFs and the forward and inverse kinematics have been studied. Optimization-based dynamic motion prediction will be used to consider different gestures for hand grasping.


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    Titel :

    SANTOS™ Hand: A 25 Degree-of-Freedom Model


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:

    Kongress:

    2005 Digital Human Modeling for Design and Engineering Symposium ; 2005



    Erscheinungsdatum :

    2005-06-14




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch


    Schlagwörter :


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