The model that is implemented in the Matlab script SGhuman24DoF.m has 24 degrees of freedom and is described in [1].

The function can be downloaded clicking on the link below and can be simply added to the other hand models available in SynGrasp.

SGhuman24DoF.m (updated on February, 9 – 2014)

In the 24 DoF hand model:

The thumb has 4 degrees of freedom:
- 1 for the IP joint (flexion/extension);
- 1 for the MCP joint (flexion/extension);
- 2 for the trapeziometacarpal (TM) joint (twist, adduction/abduction).

The other fingers have 5 degrees of freedom each:
- 1 for the DIP joint (flexion/extension);
- 1 for the PIP joint (flexion/extension);
- 2 for the MCP joint (abduction/adduction flexion/extension);
- 1 for the CMC joint (flexion/extension).

The model has 19 links:
- 3 for the thumb (LT,M, LT,P, LT,D)
- 4 for each of the other fingers (Li,Me, Li,P, Li,Mi, Li,D, with i = {I, M, R, L})

Authors: M. Pozzi, M. Malvezzi

References

[1] S. Cobos, M. Ferre, M. A. Sánchez-Urán, J. Ortego and R. Aracil. Human hand descriptions and gesture recognition for object manipulation. Computer Methods in Biomechanics and Biomedical Engineering , Vol. 13, No. 3, pp. 305 – 317, 2009.

[2] M. Malvezzi, G. Gioioso, G. Salvietti, D. Prattichizzo, A. Bicchi. SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands. In Proc. IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013.