Palm degrees of freedom enhance thumb opposability in robotic hands mainly by shifting finger base positions, yielding larger fingertip workspace overlap than equivalent finger DoF increases, with trade-offs when total DoF is fixed.
Quantification of the ranges of motion of the cmc joints of the 4th and 5th digits of the human hand in vivo using computed tomography,
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A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands
Palm degrees of freedom enhance thumb opposability in robotic hands mainly by shifting finger base positions, yielding larger fingertip workspace overlap than equivalent finger DoF increases, with trade-offs when total DoF is fixed.