3D active workspace of the human hand shaped end effector

The first step to create a functional and adjustable end effector, based on the human hand, is to conceive the architecture of the system, as well as its motion functions able to reflect the original ones. If the model is created with accuracy by respecting the nature of articulations and the dimensions of articulated bones, it can function as the real organ providing the same motions. Unfortunately, the human hand is hard to model due to its kinematical chains submitted to motion constraints. On the other hand, if an application does not impose a fine manipulation it is not necessary to create a model as complex as the human hand is. But anyway, the end effector has to perform a certain lot of motions in imposed workspace. The motion of the model was studied using MATLAB 7.0 in order to represent the hyper surface covering its own active workspace. To compare the fingers' tips trajectories, various possible simplified hand motions have been studied by acting only some of the model's joints. The conclusions were useful to design appropriate end effectors.