Mechanical simulation of fingers of hand prosthesis

Abstract

Geometrical design of the fingers was done using anti-quadrangle linkages, the dynamic modeling being achieved using GLScene soft for Delphi programming language. This program can be used not only for hand prosthesis, which use anti-parallelogram linkages but also for anthropomorphic robot hands. This simulation offers the possibility that, at the end of the animation, obtaining the graphical representation of speed and force to the last element of the index.