Palm degrees of freedom enhance thumb opposability in robotic hands mainly by shifting finger base positions, yielding larger fingertip workspace overlap than equivalent finger DoF increases, with trade-offs when total DoF is fixed.
A three-fingered humanoid dexterous hand based on a six-bar meta- morphic palm structural design and performance research,
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A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands
Palm degrees of freedom enhance thumb opposability in robotic hands mainly by shifting finger base positions, yielding larger fingertip workspace overlap than equivalent finger DoF increases, with trade-offs when total DoF is fixed.