Inexpensive complex hand model

This paper describes a functional model of the human hand suitable for design and testing of various motion control systems. A five digit arrangement (four fingers with opposable thumb) with anthropomorphic joints is used which provide a physiologic range of motion from the phalanges through the wrist. These joints can be operated by various actuators (ie: contractile wire, stepper motors, hydraulics, pneumatics) with or without position/force feedback sensors. The construction techniques utilize cheap, readily obtainable materials which can easily be formed and assembled with common modelmaker's tools. Students and teaching laboratories will be able to afford the basic hand system. The model is sophisticated enough to serve as a platform for non-trivial applications such as research (prosthetics/rehabilitation), teaching, and aids for the handicapped. Construction plans are available from the author.