{"responseHeader":{"status":0,"QTime":4,"params":{"q":"{!q.op=AND}id:\"96729\"","hl":"true","hl.simple.post":"","hl.fragsize":"5000","fq":"!embargo_tdt:[NOW TO *]","hl.fl":"ocr_t","hl.method":"unified","wt":"json","hl.simple.pre":""}},"response":{"numFound":1,"start":0,"docs":[{"file_name_t":"Adam-CAD_Based_Biomedical.pdf","thumb_s":"/f6/d6/f6d601715e8d6f920e5a09ec3e1c77e4754309d9.jpg","oldid_t":"compsci 4706","setname_s":"ir_computersa","restricted_i":0,"format_t":"application/pdf","modified_tdt":"2016-04-27T00:00:00Z","file_s":"/20/e1/20e15ac8bfe9d8e05112ec9ee525ca240bd17f94.pdf","title_t":"Page 94","ocr_t":"82 Equation 5.21, Equation 5.19 can be set equal to Equation 5.22, and Equation 5.20 can be set equal to Equation 5.23, as follows: n' 1 - D1 (5.24) n' 2 - D2 (5.25) n' 3 - D3 (5.26) Equations 5.24 through 5.26 constitute a series of three equations that contain six unknown variables. Those variables are fh, 02 , 03 , 0~, o;, and o;. It is clear that assigning different values to 01 and 0~ would result in different values for 02 and o; and/or for 03 and o;. There is no single solution for Oi oro;. Instead, there is more than one solution that accounts for the one to many mappings -of tendon lengths to joint angles that are found only at certain tendon lengths. 5.6.2 Other Mechanical Finger Observations An interesting observation from the Dset data presented in Appendix C is that the third (most distal) joint's 0 value is constant within each Dset. That is to say, for every group of joint rotations that map to one set of tendon lengths, the third joint's angle is the same. Moreover, there are certain values that the 0 of the third joint gravitates towards. An angle between 26 degrees and 30 degrees comes up more than half of the time. In the finger data there is only one exception to the generalization that the distal joint angle is held constant, and that is for the Dset for the tendon length set < 2.530, 3.050,1.980 >. The value of rotation for the most distal joint, (the third angle), of the mapped sets of angles is consistently between 56 and 58 degrees except for a single 0 set where the third 0 is five degrees. The reason for this single","id":96729,"created_tdt":"2016-04-27T00:00:00Z","parent_i":96762,"_version_":1679953755946090497}]},"highlighting":{"96729":{"ocr_t":[]}}}