SANTOS Hand: A 25 Degree-of-Freedom Model The University of Iowa

Format:

Conference/Event

Author/Creator:

Pitarch, Esteban Peña, author.

Conference Name:

2005 Digital Human Modeling for Design and Engineering Symposium (2005-06-14 : Iowa City, Iowa, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2005

Summary:

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 0100 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

Notes:

Vendor supplied data

Publisher Number:

2005-01-2727

Access Restriction:

Restricted for use by site license