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SANTOS ™ Hand: A 25 Degree-of-Freedom Model
Technical Paper
2005-01-2727
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
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.
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Pitarch, E., Yang, J., and Abdel-Malek, K., "SANTOS™ Hand: A 25 Degree-of-Freedom Model," SAE Technical Paper 2005-01-2727, 2005, https://doi.org/10.4271/2005-01-2727.Also In
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