In the last few years, the number of projects studying the human hand from the robotic point of view has increased rapidly, due\r\nto the growing interest in academic and industrial applications. Nevertheless, the complexity of the human hand given its large\r\nnumber of degrees of freedom (DoF) within a significantly reduced space requires an exhaustive analysis, before proposing any\r\napplications. The aim of this paper is to provide a complete summary of the kinematic and dynamic characteristics of the human\r\nhand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating\r\nthe human hand shape and functionality. A collection of data and constraints relevant to hand movements is presented, and the\r\ndirect and inverse kinematics are solved for all the fingers as well as the dynamics; anthropometric data and dynamics equations\r\nallow performing simulations to understand the behavior of the finger.
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