Computer Modelling Of Multifingers Hand Driven By Muscle Activation And Application To Artificial Upper-limb System

Muhifingers hand of a living human driven by muscle activation has been analysed using mukibody dynamics approaci based on the updated Lagrange method, Based on the similarities of multi-lingers system of a living h- an artificial four fingers manipulator driven by wire-stepping motors has been developed. Combined it with artificial biorobotics q so far develope~ we have developed an exclusive and artificial multifhgen hand-arm system, Some manipulation tests have been carried out and the applicabilities of the system developed have been successfullyclarified.