Inverse Kinematic Analysis of Human Hand Thumb Model

摘要

This paper deals with a kinematic model of the thumb of the human hand. The proposed model has 3 degrees of freedom being able to model the movements of the thumb tip with respect to the wrist joint centre. The kinematic equations are derived based on Denavit-Hartenberg Convention and solved in both direct and inverse way. Inverse kinematic analysis of human hand thumb model reveals multiple and connected solutions which are characteristic to nonlinear systems when the number of equations is greater than number of unknowns and correspond to natural movements of the finger.