Table 3.
Modified DH parameters.
| Link. | α i −1 | ai−1 | d i −1 | θ i | Joint Axis Associated Motions |
|---|---|---|---|---|---|
| 1 | 0 | 0 | 0 | q1 | MCP abd/add |
| 2 | π/2 | 0 | 0 | q2 | MCP flex/ext |
| 3 | 0 | L 1 | 0 | q3 | PIP flex/ext |
| 4 | 0 | L 2 | 0 | q4 | DIP flex/ext |
| Fingertip (f) | 0 | L 3 | 0 | 0 | - |
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