Comp 444 Embedded Robotic Programming
introduces you to robotic Assignment # 2
Athabasca University
, Comp 444 Embedded Robotic Programming introduces you to robotic
Assignment # 2 Athabasca University
1. How many DOFs are there in the human hand? can you control each of them independently?
We all know that the human hand is generally considered to have 27 degrees of freedom, this
includes the joints of the fingers, thumb, and wrist, and the degrees of freedom associated with
individual finger movements. We equally know that not all these degrees of freedom are
completely independent or controllable in isolation.
However, some movements, especially those that have to do with individual fingers, can be
relatively independent, there are also many synergies and dependencies among different joints and
muscles in the hand. For instance, some finger movements are joint, and the overall
coordination of hand movements involves complex interactions between muscles and joints.
2. Which of the two joint types discussed, rotational and prismatic, is more commonly found in
biological bodies? Can you think of specific examples?
Most biological bodies discussed in the test, have rotational joints more than prismatic joints.
Rotational joints, equally known as hinge joints, allow movement along one axis, basically
circularly or rotationally. These joints are well-suited for providing a range of motions and
stability, which is essential for many biological functions. some examples from the human body
are:
The Hinge Joint of the Knee primarily allows flexion and extension, and the Pivot Joint of the Neck
allows for rotation, allowing the head to turn from side to side.
However, prismatic joints are not absent in biological systems. Prismatic joints, which can also
be called sliding or translational joints, allow linear motion along a specific axis. Examples of
prismatic joints in the human body include:
Gliding Joints in the Wrist and Ankle These joints allow for limited sliding or gliding motions and
sliding Joints in the Vertebrae allow for slight translational movements.
3. Are astronauts suits exoskeletons? What about a lever-controlled backhoe?
I don't think that astronaut suits are typically considered exoskeletons in the same sense as
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