Degrees of Freedom
The Shadow Dexterous Hand has been designed to have a range of movement equivalent to that of a typical human being.
The four fingers of the hand contain two one-axis joints connecting the distal phalanx, middle phalanx and proximal phalanx and one universal joint connecting the finger to the metacarpal.
The little finger has an extra one-axis joint on the metacarpal to provide the Hand with a palm curl movement.
The thumb contains one one-axis joint connecting the distal phalanx to the proximal phalanx, one universal joint connecting the thumb to the metacarpal and one one-axis joint on the bottom of the metacarpal to provide a palm curl movement.
The wrist contains two joints, providing flex/extend and adduct/abduct.
This means that the Shadow Dexterous hand has 24 joints all together, with 20 degrees of freedom.
Read more about this topic: Shadow Hand
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—François, Duc De La Rochefoucauld (1613–1680)
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“Individuality is the aim of political liberty. By leaving to the citizen as much freedom of action and of being, as comports with order and the rights of others, the institutions render him truly a freeman. He is left to pursue his means of happiness in his own manner.”
—James Fenimore Cooper (1789–1851)