Equations (9) and (10) have been implemented in a numerical simulation in order to compute the velocities and accelerations of the phalanxes during the operation of the designed mechanism.
The amplitudes of the flexionextension movement and abduction-adduction movement are identical to those of the mechanical hand, and the lengths of the phalanxes are also respected.
In the natural hand the proportions of the three finger bones (phalanxes) are only slightly different to each other.
In fact, long phalanges require a greater number of gears for the transmission of motion or a bigger size of gears.
Facial characteristics, broad thumbs and distal phalanges, and partial duplication of the big toes are clearly visible.
In addition, the layout of the fingers on the palm and the phalanxes' dimensions are similar to those of an average-size human hand.
The hand consists of three fingers, with two phalanges and two revolute joints each, connected to a rigid palm.
Also, there are deposits of new bone on the volar surfaces of the proximal phalanges of the left second and third fingers.
