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Biomechanics lab

Robotic Hand Kinematics

26 visible axesRigid-link prototype

Selected axis

MCP flexion

Index · Knuckle hinge

Orbit · pan · zoom

Click a ring to inspect

Procedural mechanical hand · GLB-ready fallbackLive kinematics

Control mode

Movement authority

DIP flexion follows PIP flexion at a realistic 0.66 ratio. Switch to independent mode to command every visible axis.

Show joint-limit arcs

Motion library

Functional presets

interruptible

Forearm

1 axis

-85°85°

Wrist

2 axises

-70°80°

-28°38°

Palm

2 axises

0°26°

0°18°

Thumb

5 axises

-25°58°

-32°48°

-18°18°

-12°78°

-5°85°

Index

4 axises

-18°92°

-18°22°

0°108°

0°78°

Middle

4 axises

-16°95°

-13°13°

0°112°

0°82°

Ring

4 axises

-14°92°

-14°18°

0°108°

0°78°

Little

4 axises

-16°96°

-24°24°

0°102°

0°75°

Model notes

This simulator shows 26 visible kinematic axes. In coupled mode, 22 independent inputs remain because DIP hinges follow their PIP partners; independent mode exposes all 26.

Palm cupping rotates and translates the ring and little metacarpal rays to form a constrained transverse arch. It is a rigid-link kinematic model, not exact biological replication.

Future extensions: soft tissue, tendons and muscles, tactile sensing, collision/friction, pressure distribution, and physical grasp forces.