Design and implementation of Haptic based Artificial Hand Mode (AHM) based on Virtual Reality Interface of DHM System

Dexterous Hand Master (DHM) is one of exoskeletal controlling devices used to measure the positions of an operator's hand, and utilize these positions to control the motion of a remote manipulator or slave. Applications motivating development of such device have ranged from the control of a remote dexterous robot hand in physical applications, to manipulate motions of a virtual hand. A simplified kinematics model of human hand was developed to meet ability of a proposed DHM glove. In this study the design of the integrated Haptic Hand have been developed based artificial hand model for assistive therapy of partial paralyzed and unilateral paraplegic subjects for upper extremities. As many spasmodic extensor-flexor muscles of the human upper limbs, this model are based on DHM like system utilized the phalangeal biomechanical model to simulate the virtual reality system for arthrokinematic scheme of designed system.