Conference proceeding
SANTOS™ Hand: A 25 Degree-of-Freedom Model
SAE Technical Paper Series
Digital Human Modeling for Design and Engineering Symposium, 2005
06/14/2005
DOI: 10.4271/2005-01-2727
Abstract
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.
Details
- Title: Subtitle
- SANTOS™ Hand: A 25 Degree-of-Freedom Model
- Creators
- Esteban Peña PitarchJingzhou Yang - University of IowaKarim Abdel-Malek
- Resource Type
- Conference proceeding
- Conference
- Digital Human Modeling for Design and Engineering Symposium, 2005
- Series
- SAE Technical Paper Series
- DOI
- 10.4271/2005-01-2727
- ISSN
- 0148-7191
- eISSN
- 2688-3627
- Language
- English
- Date published
- 06/14/2005
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984196624402771
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