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

Table 11

Anthropometric data and numerical constants used for simulation.

𝑚1=7.05g	𝑚2=3.97g	𝑚3=2.70g
𝐼1=1000gmm^2	𝐼2=240gmm^2	𝐼3=120gmm^2
𝑘1=0.0902Nm	𝑘2=0.0902Nm	𝑘3=0.0902Nm
𝑐1=0.0225Nms	𝑐2=0.0225Nms	𝑐3=0.0225Nms
𝐿1=5000^𝑇mm	𝐿2=2000^𝑇mm	𝐿3=2500^𝑇mm
𝑏1=2500^𝑇mm	𝑏2=1000^𝑇mm	𝑏3=12.500^𝑇mm
𝑒1=25−80^𝑇mm	𝑒2=10−70^𝑇mm	𝑒3=12−60^𝑇mm