Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics

Table 7

Modified D–H parameters for fingers 1 to 4.

Finger 𝑖(𝑖=1,…,4)
Joint	𝛼𝑗−1	𝑎𝑗−1	𝑑𝑗	𝜃𝑗
𝑗=1	𝜋/2	0	0	𝜃CMC𝑓/𝑒
𝑗=2	−𝜋/2	𝐿0𝑖	0	𝜃MCP𝑎𝑏/𝑎𝑑
𝑗=3	𝜋/2	0	0	𝜃MCP𝑓/𝑒
𝑗=4	0	𝐿1𝑖	0	𝜃PIP𝑓/𝑒
𝑗=5	0	𝐿2𝑖	0	𝜃DIP𝑓/𝑒