Dear Aude and Auke:

The system, programmed in Java, simulates a 19 degree of freedom (DOF) arm and hand that can be controlled through a user interface or automatically (e.g. for learning and testing). The 19 DOFs are 3 at the shoulder, 1 for elbow flexion/extension, 3 for wrist rotation, 2 for each finger joint with 2 more for the thumb. ................
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