(A) kinematic simulation system for human hand

Abstract

A kinematic simulator of a three-dimensional human hand model for computing and dispaying the configurations to perform the basic actions of hand on a graphic terminal is described. This system simulates the human hand motion graphically on a TEKTRONIX-4105 color graphic terminal with three major modes. The joint variables, 20 in all, are obtained from the interactive commands in direct mode, and by solving inverse kinematic problem with the position and orientation of each finger-tip in inverse mode. In macro mode, the joint variables are obtained from the macro parameter directory which is constructed by system developer and user. The system has been implemented using the "C" language on a VAX-11/780 computer system running under 4.2BSD UNIX operating system.