A mechanical hand for prosthetic applications: multibody model and contact simulation.

The dynamical behavior study of a mechanical hand is a fundamental issue to verify its possible application as a prosthetic hand. Simulation approaches are widely used to predict the dynamics of mechanical components. In the context of mechanical hands, the multibody model represents a useful tool to predict the finger dynamics and therefore the phalanx rotations before the prototyping. The phalanx rotations drive the finger closure sequence and, consequently, influence the grasping ability of the whole mechanical hand. This article discusses the main theoretical aspects dealing with the design of a mechanical hand for prosthetic application and the solutions offered by multiple simulation approaches.