Hey Guys. Just have a quick question, if a robot hand was actuated by 9 motors, one for each base knuckle and then one motor to actuate the medial and distal knuckles on each finger, this makes the device underactuated right? so it would have 9 degrees of actuation, 13 joints, but how many degrees of freedom?
I've found some conflicting stuff...some sources refer to a degree of freedom as the number of independant displacements which provide the kinematic characteristics, but as the medial/distal knuckles engage linearly, the motion of both coupled joints define the hand's characteristics...
So basically...could I present my hand as having 13 degrees of freedom?...sounds much cooler than 9!
Any input would be brilliant