Abstract
Computer simulations aimed at assessing functional characteristics of the graphic workspace are presented. The simulations involve a 10-df kinematic model of the distal part of the writing arm, and yield the effective workspace of the pen tip under two types of kinematic constraints. The first constraint involves fixing the forearm under various pronation angles, the second governs the protrusion of the pen tip from the finger tips. The effective workspace is analyzed in terms of the effort required to reach the various locations in it, where effort is defined in terms of the joint angles adopted by the wrist and fingers to reach each location. The simulation results show agreements between the distribution of required effort over the workspace and known stroke-direction preferences in drawing. Furthermore, they predict shifts in the biases that are thought to lead to these preferences as a function of both hand pronation and pen protrusion.
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