Thumb

There is one thumb which is mechanically different to the fingers.

../_images/md_thumb.png
../_images/md_thumb2.png

Naming and angle conventions

The thumb has five degrees of freedom, and is stronger than the fingers, partly due to its larger diameter pulleys, and partly due to the larger motors actuating joints 4 and 5. All five joints of the thumb are independently actuated, and there is no intentional coupling between joints.