Appendix B
B.1 Definition of Coordinates and Rotations
• the +Y axis is defined parallel to the back of the hand, indicating towards the ring
finger.
• the +Z axis is defined with these specifications, resulting in a right-handed coordi-
nate system.
For the left hand see figure B.2 on page 257, for the right hand see figure B.3 on page
257):
Figure B.2: Model of a human left hand
Figure B.3: Model of a human right hand
Z
Please note that the +Z axis points up towards the back of the hand for
a left hand, but down for a right hand!
Finger coordinate system The finger coordinate system (used to measure the orienta-
tion of the outermost phalanx relative to the hand coordinate system) is defined by these
rules:
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