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The 27 DOF Anthropomorphic Hand model


The hand (including the wrist) possess 27 degrees of freedom. The movement of each joint in the hand is restricted by ligaments. The same 27 degrees of freedom of hand is replicated in this anthropomorphic hand model by constraining both joints and the extension of artificial muscles. The wrist joint can further be optimised by using constrained artificial muscular extensions instead of joints. The artificial muscles can be actuated using pneumatic/hydraulic actuators or mechanical actuators or artificial sarcomere actuators as described below.



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