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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) \(\alpha\)
35 mm \(\theta _1\) 21 0
43 mm \(\theta _2\) 45 \(\frac{\pi }{2}\)
0 \(\theta _3\) 110 0
0 \(\theta _4\) 75 \(-\frac{\pi }{2}\)
0 \(\theta _5\) 10 \(-\frac{\pi }{2}\)