Table 2 Denavit–Hartemberg parameters of thumb motion Capture [22]
From: Modification of body schema by use of extra robotic thumb
d | \(\theta\) | r (mm) | \(\alpha\) |
|---|---|---|---|
35Â mm | \(\theta _1\) | 21 | 0 |
43Â mm | \(\theta _2\) | 45 | \(\frac{\pi }{2}\) |
0 | \(\theta _3\) | 110 | 0 |
0 | \(\theta _4\) | 75 | \(-\frac{\pi }{2}\) |
0 | \(\theta _5\) | 10 | \(-\frac{\pi }{2}\) |