Extended Data Fig. 2: Kinematic model of the F-TAC Hand.
From: Embedding high-resolution touch across robotic hands enables adaptive human-like grasping
We adopt the modified Denavit-Hartenberg (DH) norm to establish the coordinates for the palm base and finger phalanxes. The transformations between these coordinates are represented in DH tables. In these tables, ai−1 is the distance along Xi−1 between Zi−1 and Zi, αi−1 is the angle about Xi−1 between Zi−1 and Zi, di is the distance along Zi between Xi−1 and Xi, and θi is the angle about Xi between Xi−1 and Xi.
