The dynamic model of an artificial hand [articol]

Abstract

The development of artificial systems capable to mimic the human body rise fascinating problems regarding its capability of manipulating things. In order to obtain a human hand prosthesis easy to use, light and cosmetically appealing, one have to study the natural hand and to obtain its kinematical model. Also, the dynamic modeling of the human hand is necessary because its normal physiological motions require dynamics. The human hand is a mechanism having many degrees of freedom, so the obtained system of differential equations, modeling the hand, is very complex and imposes a numerical solution. These models can be used as a solid base to design satisfactory human hand prostheses. The paper presents a dynamical model of the human hand used to create a hydraulically based design for a human hand prosthesis.