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Due to the hand biomechanical constrains and coordinate manner of motor control, single one joint is difficult to move independently. The aim of this paper is to have an analysis on the joint independence of hand and wrist. At first, a grasp experiment under the tolerance grasping was completed, and the hand and wrist joint angles in different grasping postures were recorded for representing the functionality...
The paper proposes an integrated approach to solve the inverse kinematics of the 7-DOF humanoid arm with offset wrist. Firstly, according to the arm's configuration, the closed-form solutions of inverse kinematics for 7-DOFs arms are developed based on the reverse coordinates method. Secondly, an integrated inverse kinematic approach, termed the modified gradient projection method, is proposed on...
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