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Figure 1. Mechanism Diagram Figure 2. MATLAB Animation of Mechanism Motion
Based on the results measurements from a study on human hand motion [1], we converted the position, velocity, and acceleration data for the hand to angular positions, velocities, and accelerations of an elbow joint, theta 2. These values were then fed into our equations to determine the motion profiles of link R4's rotation (theta 1) and the slider's sliding (c).
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