This paper presents a new type of finger based on pneumatic bending joint and establishes the kinematics equation of the finger by using coordinate system transform.
提出了一种新型气动弯曲关节手指，并应用坐标变换的方法建立了手指的运动学方程。
Methods: By reference to the right-handed coordinate system, the three-dimensional positions of the femoral and pelvic attachment of the muscles related to the hip joint were all measured.
方法：以股骨头、髋臼的中心为原点建立股骨及骨盆的右手正交坐标系，将髋关节周围起于骨盆的肌肉的股骨、骨盆附着点的三维坐标位置进行了测量定位。
Methods: By reference to the right-handed coordinate system, the three-dimensional positions of the femoral and pelvic attachment of the muscles related to the hip joint were all measured.
方法：以股骨头、髋臼的中心为原点建立股骨及骨盆的右手正交坐标系，将髋关节周围起于骨盆的肌肉的股骨、骨盆附着点的三维坐标位置进行了测量定位。
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