This repository contains implementations for forward and inverse kinematics calculations and simulations of the ILDA (Integrated Linkage-Driven Anthropomorphic) dexterous hand finger model in both MATLAB and Python.

The ILDA finger model is a sophisticated anthropomorphic robotic finger design that mimics human finger kinematics through integrated linkage mechanisms. This project provides comprehensive kinematic analysis tools for research and development in dexterous robotics.

ILDA灵巧手手指正逆运动学建模 https://mp.weixin.qq.com/s/CysLC0w8-a0Tx0XXKnmZPQ

• Forward Kinematics (FK): Calculate joint angles from actuator displacements
• Inverse Kinematics (IK): Calculate actuator displacements from desired joint angles
• 3D Visualization: Interactive 3D plots showing finger structure and motion
• Animation Generation: Create GIF animations demonstrating finger movements
• Dual Implementation: Available in both MATLAB and Python
• Comprehensive Documentation: Detailed comments explaining kinematic calculations

├── matlab/                 # MATLAB implementation
│   ├── ILDA_FK.m          # Forward kinematics calculation
│   ├── ILDA_IK.m          # Inverse kinematics calculation
│   ├── ILDAFK_fig.m       # Forward kinematics visualization and animation
│   ├── ILDAIK_fig.m       # Inverse kinematics visualization and animation
│   └── example_usage.m    # Usage examples and verification
├── python/                # Python implementation
│   ├── ilda_fk.py         # Forward kinematics calculation
│   ├── ilda_ik.py         # Inverse kinematics calculation
│   ├── ilda_parameters.json # Configuration file
│   ├── example_usage_python.py # Usage examples
│   ├── requirements.txt   # Python dependencies
│   └── README_Python.md   # Python-specific documentation
├── docs/                  # Additional documentation
│   ├── Supplementary Information.pdf
│   └── Nature Communications Paper.pdf
├── README.md              # Main project documentation
├── LICENSE                # Apache License
└── .gitignore            # Git ignore rules

1. Navigate to the matlab/ directory
2. Run the example script:

   cd matlab
   example_usage

1. Navigate to the python/ directory
2. Install dependencies:

   cd python
   pip install -r requirements.txt

3. Run the example script:

   python example_usage_python.py

See the matlab/ directory for MATLAB-specific usage instructions.

See the python/README_Python.md file for detailed Python usage instructions.

The ILDA finger consists of three main joints:

• MCP (Metacarpophalangeal): Base joint with abduction/adduction and flexion
• PIP (Proximal Interphalangeal): Middle joint for flexion
• DIP (Distal Interphalangeal): Tip joint for fine control

Please refer to the following parameters for specific meanings:[url]

• MATLAB R2018b or later
• Image Processing Toolbox (for GIF generation)

• Python 3.7 or later
• NumPy >= 1.21.0
• Matplotlib >= 3.5.0 (optional, for visualization)
• SciPy >= 1.7.0 (optional, for advanced features)

This project is licensed under the Apache License - see the LICENSE file for details.

Contributions are welcome! Please feel free to submit a Pull Request.

For questions or issues, please open an issue on GitHub.