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public class HandConstraints { // Define anatomical range of motion (ROM) for joints in degrees // adjust these values based on your reference data public static final int SHOULDER_FLEXION_MIN = -30; public static final int SHOULDER_FLEXION_MAX = 120; public static final int SHOULDER_ABDUCTION_MIN = -30; public static final int SHOULDER_ABDUCTION_MAX = 90; public static final int SHOULDER_EXTERNAL_ROTATION_MIN = -90; public static final int SHOULDER_EXTERNAL_ROTATION_MAX = 0; public static final int ELBOW_FLEXION_MIN = 0; public static final int ELBOW_FLEXION_MAX = 135; // Adjust based on your reference data public static final int WRIST_FLEXION_MIN = -60; public static final int WRIST_FLEXION_MAX = 80; public static final int WRIST_RADIAL_DEVIATION_MIN = -20; public static final int WRIST_RADIAL_DEVIATION_MAX = 20; public static final int WRIST_ULNAR_DEVIATION_MIN = -20; public static final int WRIST_ULNAR_DEVIATION_MAX = 20; public static float[] applyConstraints(float[] rotations) { // Assumes rotations array contains rotation data in a specific order (e.g., shoulder rotations, elbow flexion, wrist rotations) rotations[0] = clampRotation(rotations[0], SHOULDER_FLEXION_MIN, SHOULDER_FLEXION_MAX); // Shoulder Flexion float maxElbowFlexion = calculateMaxElbowFlexion(rotations[0]); // Calculate dependent elbow limit rotations[3] = clampRotation(rotations[3], ELBOW_FLEXION_MIN, maxElbowFlexion); // Elbow Flexion with constraint rotations[1] = clampRotation(rotations[1], SHOULDER_ABDUCTION_MIN, SHOULDER_ABDUCTION_MAX); // Shoulder Abduction rotations[2] = clampRotation(rotations[2], SHOULDER_EXTERNAL_ROTATION_MIN, SHOULDER_EXTERNAL_ROTATION_MAX); // Shoulder External Rotation rotations[4] = clampRotation(rotations[4], WRIST_FLEXION_MIN, WRIST_FLEXION_MAX); // Wrist Flexion rotations[5] = clampRotation(rotations[5], WRIST_RADIAL_DEVIATION_MIN, WRIST_RADIAL_DEVIATION_MAX); // Wrist Radial Deviation rotations[6] = clampRotation(rotations[6], WRIST_ULNAR_DEVIATION_MIN, WRIST_ULNAR_DEVIATION_MAX); // Wrist Ulnar Deviation return rotations; } private static float clampRotation(float rotation, float min, float max) { return Math.min(Math.max(rotation, min), max); } private static float calculateMaxElbowFlexion(float shoulderFlexion) { // Simple example: Reduce max elbow flexion based on shoulder flexion (adjust as needed) float reductionFactor = Math.abs(shoulderFlexion) / 100.0f; // Adjust factor based on desired dependency return ELBOW_FLEXION_MAX * (1.0f - reductionFactor); } }
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