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Figure 7. Human hand kinematic model. Finger rays labeled 1 to 5 from thumb to little finger. Thumb is reversed. l' = link length, θ' = abduction angle, x,z = joint axes.

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lif07

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  1. Figure 7. Human hand kinematic model. Finger rays labeled 1 to 5 from thumb to little finger. Thumb is reversed. l' = link length, θ' = abduction angle, x,z = joint axes. Li K, Chen IM, Yeo SH, Lim CK. Development of finger-motion capturing device based on optical linear encoder.J Rehabil Res Dev. 2011;48(1):69-82.DOI:10.1682/JRRD.2010.02.0013

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