摘要 : With the advancement of robotics and the need for prosthetic hand models that are focused on solving the grip and handling of different elements, analysis and simulation of a robot hand with anthropomorphic features arise. This pa... 展开 With the advancement of robotics and the need for prosthetic hand models that are focused on solving the grip and handling of different elements, analysis and simulation of a robot hand with anthropomorphic features arise. This paper presents the modeling of an anthropomorphic hand with 5 degrees of freedom. The fundamentals are presented from the physiological and biomechanical analysis of a hand, allowing to generate the mathematical model to build the kinematic model. The movements used for modeling are based on flexion and extension of the wrist and all five fingers on the palm. Together, all the movements gather five degrees of freedom, enough to emulate the vast majority of hand positions adopted during the performance of their functions. The models obtained converge enough to allow proper handling of a prosthesis. 收起