Kinematic analysis of the human thumb with foldable palm

Visakha Nanayakkara, Ahmad Ataka, Demetrios Venetsanos, Olga Duran, Nikolaos Vitzilaios, Thrishantha Nanayakkara, M. Necip Sahinkaya

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

    2 Citations (Scopus)


    There have been numerous attempts to develop anthropomorphic robotic hands with varying levels of dexterous capabilities. However, these robotic hands often suffer from a lack of comprehensive understanding of the musculoskeletal behavior of the human thumb with integrated foldable palm. This paper proposes a novel kinematic model to analyze the importance of thumb-palm embodiment in grasping objects. The model is validated using human demonstrations for five precision grasp types across five human subjects. The model is used to find whether there are any co-activations among the thumb joint angles and muskuloskeletal parameters of the palm. In this paper we show that there are certain pairs of joints that show stronger linear relationships in the torque space than in joint angle space. These observations provide useful design guidelines to reduce control complexity in anthropomorphic robotic thumbs.

    Original languageEnglish
    Title of host publicationTowards Autonomous Robotic Systems - 17th Annual Conference, TAROS 2016, Proceedings
    PublisherSpringer-Verlag London Ltd
    Number of pages13
    ISBN (Print)9783319403786
    Publication statusPublished - 2016
    Event17th Annual Conference on Towards Autonomous Robotic Systems - Sheffield, United Kingdom
    Duration: 26 Jun 20161 Jul 2016

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349


    Conference17th Annual Conference on Towards Autonomous Robotic Systems
    Abbreviated titleTAROS 2016
    Country/TerritoryUnited Kingdom


    • Foldable palm
    • Joint angle correlations
    • Thumb kinematics
    • Torque correlations

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)


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