Detailed hand model

The detailed hand model is a model of the carpal bones with 17 DOFs. The model
has no muscles, but the joints are equiped with joint actuators, so the model can
be used for dynamic analysis.

:::{figure} _static/DetailedHandCloseUp.jpg
:width: 50%
:::

Example Configuration

Short example of how to configure and enable the model:

:::{seealso}
:class: margin
The {doc}Arm configuration parameters <../bm_config/arm> for a
full list of parmaeters.
:::

#define BM_ARM_DETAILED_HAND  ON
#define BM_MANNEQUIN_DRIVER_HAND_RIGHT ON
#define BM_MANNEQUIN_DRIVER_HAND_LEFT ON

If you haven't include a custom mannequin file in your model, you can directly specify the posture of the
detailed hand model by setting the values in Main.HumanModel.Mannequin:

HumanModel.Mannequin.Posture.Right = {
  Finger1 =
  {
     CMCDeviation = 10;
     CMCFlexion = 40;
     MCPFlexion = 55;
     MCPDeviation = 0.0;
     DIPFlexion = 20;
  };
  Finger2 =
  {
    MCPFlexion = 10;
    PIPFlexion = 10;
    DIPFlexion = 5;
  };
};

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