A graphical method for evaluating static characteristics of the human finger by force manipulability

Abstract

Static characteristics of the human finger are investigated using a mechanical planar model of the finger. They are represented by mapping a tendon force vector to a manipulating force vector of the fingertip. Force manipulability of the fingertip is defined as a force manipulability set obtained from the mapping under the condition that the norm of the tendon force vector is not more than a unit value. The shapes of the sets are geometrically obtained and graphically represented in the simulation results. The simulation visually demonstrates the static characteristics of the finger.