Three-dimensional modeling of the human hand with motion constraints

This paper describes a new approach for modeling the human hand by considering the dynamics and the natural constraints of the motion and the shape of hands. This hand model consists of a dynamic model and a surface model. The dynamic model is used to generate the posture of a hand. We show that the natural hand posture can be generated even when only a few hand parameters are available. The surface model is used to generate the hand shape based on the posture given by the dynamic model. The surface model is built based on the digitized threedimensional shape of a real hand. q 1999 Elsevier Science B.V. All rights reserved.