How many degree of freedom a wrist can have?What is the purpose of these degree of freedom.
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Hey dear here is the answer
Incidentally, this implies to me that there are different models of the hand with different assumptions that use a different number of degrees of freedom.
Anyways, take a look at this hand:
And now, follow along with your own hand!
finger (4 DOF): each finger has 2 interphalangeal joints between the distal, middle and proximal phalanges that allow for flexion/extension (2 DOF); each finger also has a metacarpophalangeal joint between the proximal phalanx and the metacarpal that allows for flexion/extension as well as abduction/adduction (2 DOF)
thumb (5 DOF): an interphalangeal joint between the distal and proximal phalanges allowing flexion/extension (1 DOF); a metacarpophalangeal joint between the proximal phalanx and metacarpal allowing flexion/extension and abduction/adduction (2 DOF); a carpometacarpal joint between the metacarpal and trapezium allowing flexion/extension and abduction/adduction (2 DOF)
wrist (6 DOF): between the carpals and radius allowing flexion/extension, abduction/adduction and supination/pronation (3 DOF); I think when the authors refer to translation of the wrist, they are simply saying that hand can be moved in all planes of 3D space (ie up/down, side to side, forward/backward - 3 DOF)
Since we have 4 fingers, they give 16 DOF. Adding the 5 DOF of the thumb and 6 of the wrist, we get 27. Please nobody question my reasoning
Incidentally, this implies to me that there are different models of the hand with different assumptions that use a different number of degrees of freedom.
Anyways, take a look at this hand:
And now, follow along with your own hand!
finger (4 DOF): each finger has 2 interphalangeal joints between the distal, middle and proximal phalanges that allow for flexion/extension (2 DOF); each finger also has a metacarpophalangeal joint between the proximal phalanx and the metacarpal that allows for flexion/extension as well as abduction/adduction (2 DOF)
thumb (5 DOF): an interphalangeal joint between the distal and proximal phalanges allowing flexion/extension (1 DOF); a metacarpophalangeal joint between the proximal phalanx and metacarpal allowing flexion/extension and abduction/adduction (2 DOF); a carpometacarpal joint between the metacarpal and trapezium allowing flexion/extension and abduction/adduction (2 DOF)
wrist (6 DOF): between the carpals and radius allowing flexion/extension, abduction/adduction and supination/pronation (3 DOF); I think when the authors refer to translation of the wrist, they are simply saying that hand can be moved in all planes of 3D space (ie up/down, side to side, forward/backward - 3 DOF)
Since we have 4 fingers, they give 16 DOF. Adding the 5 DOF of the thumb and 6 of the wrist, we get 27. Please nobody question my reasoning
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