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Further, singularity analysis is investigated with the analysis of each spherical triangle the palm is decomposed. Singularity-avoidance-based design criteria are then presented. Finally, point clouds are generated that represent the joint space of the palm as well as the workspace of the hand with the advantage of an articulated palm is shown.<\/jats:p>","DOI":"10.1017\/s0263574715000399","type":"journal-article","created":{"date-parts":[[2015,6,17]],"date-time":"2015-06-17T06:25:44Z","timestamp":1434522344000},"page":"2788-2805","source":"Crossref","is-referenced-by-count":20,"title":["Spherical trigonometry constrained kinematics for a dexterous robotic hand with an articulated palm"],"prefix":"10.1017","volume":"34","author":[{"given":"Evangelos","family":"Emmanouil","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guowu","family":"Wei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian S.","family":"Dai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,6,17]]},"reference":[{"key":"S0263574715000399_ref23","doi-asserted-by":"publisher","DOI":"10.1115\/1.1637653"},{"key":"S0263574715000399_ref12","unstructured":"H. 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