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Sine wave parameters for shadow hand (rad)
| Joint | Phase offset: ϕ k | Amplitude: A k | Position offset: b k |
|---|---|---|---|
|
x
F1
|
-0.9425 |
0.635 |
0.975 |
|
x
F2
* |
1.571 |
0.319 |
0.900 |
| Thumb kinematic model | |||
|
x
T4
|
0.000 |
0.000 |
0.450 |
|
x
T3
|
0.000 |
0.000 |
1.257 |
|
x
T2
|
1.856 |
0.400 |
0.000 |
| x T1 | 1.971 | 0.490 | 0.350 |
*Reference Joint.
