Once all the above-mentioned values

Once all the above-mentioned values have been entered, the kinematic model computes the values of rods length, proximal and distal . Next, considering that the linear actuator performs a path , mm, with mm, the kinematic model calculates MCP and PIP joint angles (, angles, respectively), as well as the values of the X and Y coordinates of PIP (PIP, PIP) and DIP (DIP, DIP) points. Finally, all calculated values are stored to be used in the kinematic model validation.Although the kinematic model has only been presented for the index finger, it is applicable to all fingers since it is parameterizable. The particular anthropomorphic characteristics of the thumb, that only has two phalanges, requires to correctly interpret the results of Eqs. (8), (9): the coordinates of the PIP and DIP joints of the fingers correspond to the coordinates of the IP joint and fingertip of the thumb, respectively. Fig. 7 shows the path followed by IP joint and fingertip of the thumb in the XY-plane. Since the thumb only has two phalanges, it is possible to determine the trajectory followed by the whole finger. This does not apply to the rest of the fingers whose fingertip trajectories are unknown because the distal phalanges are not actuated.Study of RobHand’s Actuated Applied Parts (APPs) kinematic parameters