SANTOSTM Hand: Workspace Analysis

E. Peña Pitarch (Spain, USA), J. Yang, and K. Abdel-Malek (USA)


Workspace, hand model, grasping, biomechanics.


Human hands are important parts that permit a person take different activities, grasp different objects and work with varieties of tools. This paper presents a 25-degree of-freedom (DOF) model and workspace analysis of fingers for SantosTM , a new generation of virtual humans. This 25 DOF model can realistically simulate all possible movement of each finger in 3-dimension. It permits the hand arch in the palm. The Jacobian rank deficiency method is implemented to study the workspace of fingers.

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