SANTOS™ hand: Workspace analysis

Esteban Peña Pitarch, Jingzhou Yang, Karim Abdel-Malek

Research output: Contribution to journalConference articlepeer-review


Human hands are important parts that permit a person take different activities, grasp different objects and work with varieties of tools. This paper presents a 25-degree-of-freedom (DOF) model and workspace analysis of fingers for Santos™, a new generation of virtual humans. This 25 DOF model can realistically simulate all possible movement of each finger in 3-dimension. It permits the hand arch in the palm. The Jacobian rank deficiency method is implemented to study the workspace of fingers.

Original languageEnglish
Article number459-050
Pages (from-to)117-123
Number of pages7
JournalProceedings of the IASTED International Conference on Modelling and Simulation
StatePublished - 2005
Event16th IASTED International Conference on Modelling and Simulation - Cancun, Mexico
Duration: May 18 2005May 20 2005


  • Biomechanics
  • Grasping
  • Hand model
  • Workspace


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