Efficient human hand kinematics for manipulation tasks

  title={Efficient human hand kinematics for manipulation tasks},
  author={Salvador Cobos and Manuel Ferre and Miguel Angel S{\'a}nchez Ur{\'a}n and Javier Ortego and C{\'e}sar Pe{\~n}a},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This work is focused on obtaining efficient human hand models that are suitable for manipulation tasks. A 24 DoF kinematic model of the human hand is defined to realistic movements. This model is based on the human skeleton. Dynamic and static constraints have been included in order to improve the movement realism. Two simplified hand models with 9 and 6 DoF have been developed according to the constraints predefined. These simplified models involve some errors in reconstructing the hand… CONTINUE READING
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