Kinematic Model of the Human Hand
In the last chapter we present the direct and inverse kinematic model of the thumb and fingers of a human hand. The model of the hand is developed by assembling the palm, the fingers, and the thumb and expressing their poses in the reference coordinate frame of the wrist. The introduced kinematic model was obtained based on a series of optical measurements of the human hand. The introduced model enables us to analyze the motion of the human hand, depending on the length and width of the palm.