Abstract:
This paper describes the design and development
of a virtual simulator of a human hand with 25 degrees of
freedom (DOF). The design is based on kinematics modeling
that is formulated as DH parameters and table of each finger.
To verify the modeling results, simulation experiments were
performed on MATLAB using SynGrasp toolbox which is then
compared with the results obtained using manual calculations.
Virtual and hardware prototypes of the prosthetic hand are also
designed using SolidWorks and 3D printing to demonstrate
motion simulations of the hand using input signals that take the
form of joints' angle variation. Simulation results are presented
to illustrate the effective motion of the hand kinematics' virtual
model.
Description:
Makalah dipresentasikan pada 2023 8th International Conference on Instrumentation, Control and Automation (ICA) Jakarta, Indonesia, 9th – 11th August, 2023. p.1-6
