SANTOS™ hand: A 25 degree-of-freedom model

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. Copyright © 2005 SAE International.