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Figure 1

From: Transformation of foldable robotic hand to scissor-like shape for pinching based on human hand movement

Figure 1

Motions of human hand and various tasks performed by robotic hand. (A) Human hand exerting a force in a plane against an object, (B) human hand exerting a force on an object at a point, (C) human fingers not acting on an object during handling, (D) 6-DOF robotic hand, JINZU (6 DOFs: \({J}_{5}\)–\({J}_{10}\), see “Materials and methods”) and robotic hand, (E) placing an object on its palm, (F) pinching, (G) grasping, (H) raking, (I) picking up an object, and (J) turning the pages of a book.

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