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

Table 8

Modified D–H parameters of the thumb.

Joint	𝛼𝑗−1	𝑎𝑗−1	𝑑𝑗	𝜃𝑗
𝑗=1	0	0	0	𝜃TMC𝑎𝑏/𝑎𝑑
𝑗=2	𝜋/2	0	0	𝜃TMC𝑓/𝑒
𝑗=3	0	𝐿00	0	𝜃MCP𝑓/𝑒
𝑗=4	0	𝐿10	0	𝜃IP𝑓/𝑒