BIOMECHANICAL CONSIDERATIONS IN THE DESIGN OF AN ARTIFICIAL HAND

This paper presents the design of a hand prosthesis and the implementation of an anthropomorphic finger with three degrees of freedom. The design integrates anatomical considerations, which will be emulated with alternative materials that meet the biological characteristics of the hand. The built model is inspired by the real anatomy of a human finger, in order to provide all the different handholds. The calculations of the direct and inverse kinematics are made in order to know the workspace and points of the final effector of the anthropomorphic finger.