Introduction to intermediary frame concept, for the analytic study of the kinematics models in anthropomorphic limb and prostheses

The subject presented in this article is related to the study of the analytic kinematics model for the anthropomorphic limbs. It using homogeneous transformations and Denavit Hartenberg convention defined for robots but applied in the analysis of the human body for the production of the active prostheses. This study points out the arm actions that have a more complex mechanical behavior, than that observed in a preliminary and superficial analysis of the external answers in the pronation and supination movements. An analysis in the hand fingers articulations follows, it is points out that the thumb, although having a similar to the others other fingers, possesses an insertion angle in the hand, which differ from the others. This make it a most active and special tool and also a symbol of intelligence and power.