A Model of Hands and Arms Based on Manifold Mappings

A multibody model of hands and arms is presented. Representative points of contact are considered as the end-effectors. The configuration space and the workspace are modeled as manifolds, and the task feasibility is defined using the notions of manifold mappings and Jacobian matrices. Joint rotation limits and dependencies between the joints are considered in the configuration space. A procedure to check the task feasibility is presented. The causes which lead to the infeasible task are classified into singular configuration, boundary transgression, and disharmony. Finally, a technique of martial arts, Shorinji Kempo, is analyzed to demonstrate the usefulness of the model.