Fig. 4
Constraints of the optimization algorithm around the position of the rolling contact surface (RCS). Notations are as follows: rp and rm, the radii of RCSs in the proximal phalangeal component (PPC) and middle phalangeal component (MPC), respectively; rpe and rme, the radii of dorsal circles in PPC and MPC heads, respectively; (xI, yI), the position vector of the dorsal infliction point of the proximal phalangeal head; (xV, yV), the position vector of the volar vertex of the proximal phalangeal head; (xve, yve), the position vector of the volar end point of RCS; (xde, yde), the position vector of the dorsal end point of RCS. (xpe, ype) and (xme, yme), the position vectors of the dorsal circles in the PPC and MPC heads, respectively; θd and θv, the angles in counter–clockwise direction between the tangential lines (orange dotted lines) of the dorsal and volar end points of RCS and the x axis, respectively