Kinematic Arm Model with Articulated Hand

Expanded Saul et al. (2015) arm model with 20 degrees of freedom of the elbow, wrist, and hand. The added degrees of freedom follow cardan Euler angles. The original anatomical degrees of freedom are locked. The dimensions and inertial parameters of segments are based on published anthropometric data for an average human (Winter 2009 and Kodak 2007). The model was used for testing a segmented forearm model of hand pronation-supination (Yough et al. 2021).Contributors to the model:Matthew YoughRussell HardestyMatthew BootsSergiy YakovenkoValeriya Gritsenko <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=2230#pack_2281">Kinematic arm/hand model </a> : Kinematic arm model with 20 moveable degrees of freedom at the elbow, wrist, and finger joints. (Additionally, more proximal degrees of freedom, such as the shoulder, are contained within the model but are currently locked). </li> </ul>

扩展的 Saul 等人（2015）设计的具有20个自由度的肘、腕和手关节臂模型。新增的自由度遵循卡丹-欧拉角。原始的解剖学自由度已被锁定。模型的尺寸和惯性参数基于平均人类（Winter 2009年及 Kodak 2007年）已发表的体格测量数据。该模型被用于测试手部旋前-旋后（Yough 等人，2021年）的分割前臂模型。模型贡献者包括：Matthew Yough、Russell Hardesty、Matthew Boots、Sergiy Yakovenko、Valeriya Gritsenko。本项目包含以下软件/数据包：

<ul>
<li>
<a href="https://simtk.org/frs?group_id=2230#pack_2281">运动臂/手模型</a>：具有肘、腕和指关节20个可动自由度的运动臂模型。（此外，模型中还包括肩部等更近端的自由度，但目前已被锁定）。
</li>
</ul>