3D active workspace of human hand anatomical model

Abstract

Background: If the model of the human hand is created with accuracy by respecting the type of motion provided by each articulation and the dimensions of articulated bones, it can function as the real organ providing the same motions. Unfortunately, the human hand is hard to model due to its kinematical chains submitted to motion constraints. On the other hand, if an application does not impose a fine manipulation it is not necessary to create a model as complex as the human hand is. But always the hand model has to perform a certain space of motions in imposed workspace architecture no matter what the practical application does.

A Metric for Comparing the Anthropomorphic Motion Capability of Artificial Hands

“…A human hand model consists of approximately 20 independent joints [6]- [8]. This is an overrepresentation in terms of degrees of freedom (DoFs) as there are strong correlations between the joints [9]- [11].…”

Development of a novel robotic system for hand rehabilitation

“…They consider the MCP joint of the thumb as a 2 DoF and the CMC as a 3 DoF one. In [22] fingers are also considered to have 4 DoFs and the thumb 3 DoFs, while 3 DoFs are added for the wrist.…”

Mapping kinematic functional abilities of the hand to three dimensional shapes for inclusive design

“…Several models define the abilities of the hand in terms of reachable 3D spaces and have the potential to quantify handobject interactions (Dias et al, 2009;Dragulescu et al, 2007;Johnson et al, 2010;Kuo et al, 2009). The weighted fingertip space (WFS) model developed by the authors is one such model that Contents lists available at ScienceDirect journal homepage: www.elsevier.com/locate/jbiomech www.JBiomech.com calculates the reachable spaces and weights the spaces according to kinematic functional abilities (Leitkam et al, 2013).…”