Abstract
Human hand is one of the best manipulators existing now. So when we designing Robot hands, it is available that imitates Human's one. To that end we must understand Human hand construction in detail. So we made a "Dynamics simulator by the detail human model" that Musculotendon model based on real human, and locked at its behavior. In this way we are going to know characteristics and composition of Human hand. Heretofore in our research, we made a simulator that can actuate five-finger by that adds tension to the muscle and tendon. But sometimes it takes bad behavior, the finger strikes through the other one, the finger joint turns backward direction over 90-degree, etc. So for determining these problems, in this research, implements parallel spring elements for muscletendon And then the joints set up limit angle and joint damper.
