Creating Santos's™: Grasp: Anthropometric Hand Model
Each of Santos's™ hands has 5 fingers (rays) and is represented with a 25 degree-of-freedom model. This mathematical model for the Santos™ hand incorporates kinematics and dynamics, and can be used in any virtual environment. The unique model of the hand allows for arching in the palm. The model incudes muscles and tendons and thus, can simulate any type of grasping posture in any situation. Such capabilities facilitate the study of human behavior in term of grasping In order for Santos™ to grasp with complete autonomy, an ANN (Artificial Neural Network) has been introduced.
