Three-Dimensional Design of a Robotic Hand with Proximal and Distal Interphalangeal Joints

Abstract

The human hand, with its intricate joint architecture and high dexterity, is one of the most compelling exemplars of biomechanical systems. In recent years, biomimetic approaches in robotic hand design have gained prominence, aiming to reproduce human-like motion for industrial manipulation, prosthetics, and rehabilitation. However, many existing studies model the metacarpophalangeal (MCP) joints while giving insufficient attention to the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints. In this study, inspired by the biomechanics of the human hand, it is presented a three-dimensional robotic hand that explicitly incorporates the PIP and DIP joints. Using SolidWorks, It has been modelled finger joints, phalangeal structures, and motion constraints in detail. The resulting model more faithfully reproduces physiological ranges of motion, yielding a representation that is closer to natural hand kinematics. This work provides a foundation for subsequent development of control algorithms and physical prototyping, and underscores the importance of biomimetic design in robotic hands.