Luna / Kinematic LabPrototype 04

Robotic hand / study rig

An interactive, rigid-link model for exploring human hand kinematics, joint limits, and coupled motion.

Simulation online

v0.9.7 / RIGID-LINK

Control surface

Kinematic inputs

22 independent inputs / 26 visible axes

Joint groups0°

Forearm1 axes⌄

-85°85°

Wrist2 axes⌄

-65°75°

-25°35°

Palm2 axes⌄

0°28°

0°35°

Thumb5 axes⌄

-35°75°

-30°42°

-10°65°

0°85°

-32°32°

Index4 axes⌄

-20°95°

-18°18°

0°115°

0°85°

follows PIP in coupled mode

Middle4 axes⌄

-20°95°

-14°14°

0°115°

0°85°

follows PIP in coupled mode

Ring4 axes⌄

-20°100°

-15°20°

0°120°

0°90°

follows PIP in coupled mode

Little4 axes⌄

-25°105°

-20°26°

0°125°

0°95°

follows PIP in coupled mode

Procedural fallback rig

Drag to orbit · scroll to zoom · click a joint to inspect

AXES 26

LUNA-HAND / 01

Selected input

Flexion / extension0°

Rigid-link kinematics

No soft-tissue simulation

Motion library

Load a reference gesture

Presets blend over 760 ms · interruptible by any slider

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How to read the rig

A degree of freedom is one independently modeled rotational axis. The hand exposes 26 visible axes; coupled mode reduces the independent inputs to 22 by letting each DIP follow its PIP with a 0.32 ratio. Independent mode is useful for robotics and motion-capture experiments.

Visible axes

22 / 26

Inputs in coupled mode

△

Scope & next extensions

This is an educational rigid-link kinematic simulator, not an exact biological hand. Soft-tissue deformation, tendon and muscle dynamics, tactile sensing, collision and friction, pressure distribution, and physical grasp forces are future extensions—not implemented features.

Rigid linksJoint limitsNo force model