Development of anthropomorphic upper limb prostheses with human-like interphalangian and interdigital couplings.

This article presents a model for the couplings of the movements between the phalanges and fingers in a hand when they execute certain functions. It also shows the importance of knowing these couplings, suggests methods for obtaining them, and discusses how to apply them to the construction of artificial upper limbs, highlighting the important mechanical aspects for achieving such a goal. Thus, it gives support for projects of upper limb prosthesis with anthropomorphic characteristics.