Abstract— Human hands are a critical part of human body. This paper describes a multi fingered dexterous anthropomorphic hand, developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human errors. The robotic hand will comprise of five fingers (four fingers and one thumb) each having four degrees of freedom (DOF) which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose pneumatic muscles and springs will be used. The robotic hand will be controlled by a specially designed glove, which the human operator will wear. The glove is embedded with multiple BendSensors to track the movement of all the joint of the operator’s hand. The paper exemplifies the mathematical modelling and simulation for the robotic hand. Keywords— Robotic hand, Multi-fingered hand, dextrous hand, anthropomorphic hand, pneumatic muscles. I. INTRODUCTION OBOTS have become an integral part of modern human life. With every passing year the population of robots are being increased. The industry has replaced a large number of human workers with lesser number of robots on the grounds of economy and efficiency. A robot is a modern version of slave, which perform any task in its capacity satisfying the old human instinct to rule. A robot follows the command as ordered by the human master. Therefore the humans can still enjoy mastering a thoughtless, speechless but efficient slave under their authority. Hands have been thought of being the key to the intelligence of humans. Aristotle and Anaxagoras had been discussing this matter hundreds of years ago [1]. Among all the creatures inhabiting this earth, humans are the only living being that have been gifted with this kind of hands. These hands are capable of doing many tasks in our daily routine like dexterously handling different things and even sensing. Human hand has been an area of interest and research since the advent of intellect and has been considered to be one of the reasons that human intelligence is superior to all living creature on Earth. It has been confirmed by the several findings of paleoanthropologists, showing that the mechanical dexterity of the human hand has been a major factor in allowing Homo sapiens to develop a superior brain. Our hands are the most complicated and delicate part of our bodies, which consist of fifty four bones in a variety of size and hold the capacity to perform a great range of tasks [1]. The research on humanoid robotic hand has been developed for the past few decades which range from the simplest design of parallel jaw grippers to complex configurations of dexterous multi-fingered hands. The need for the robotic hand is increasing day by day as more and more automation is being introduced in industry. The industrial losses involving human errors are being tried to get rid off by using robotic hands in manipulation of delicate things and repetitive assembling tasks both for accuracy and speed of work. The risk of human operator working in hazardous environments is also being removed by introducing use of robotic hands in space, high radiation environments, metal melting industry, chemical industry, cutting industry, automobile industry and the list goes on with different types of environments. In order to match the needs of industry and knowledge exploration, the research in the field of robotics was started long ago and has been going on for many decades now. Researchers and developers have been trying harder getting closer to the characteristics of human hand. The artificial hands made can be stronger and faster than the human hand but only in some specific tasks; the performance of human hand is by far greater than these artificial hands if a broad scope of manipulation tasks is considered [3]. The robotic hands have evolved from the very basic two fingered design for gripping to fully anthropomorphic robot hands that can perform a very good grasp. Grasping is one of the major topic in the field of robotic hands. Researchers have been using different techniques in order to strive for better grasping. The authors has developed a robotic hand that can be used anywhere as a human replacement. The robotic hand is dexterous as well as anthropomorphic as it can perform dexterous movements like human and is similar in size and shape to human hand. The complete system should be able to fix the reprogramming issue and reduce the human injuries in extreme environments. II. LITERATURE REVIEW There has been much research conducted on robotic hands. The history of robotic hands can be dated back to 1961 when Heinrich Ernst develops the MH-1 a computer operated mechanical hand at MIT [4]. This hand was also a gripper that used two fingers to pick and could hold some blocks using electric motors as actuators and touch sensors for the object identification. Grippers are very application specific so they don’t try to mimic the actual human hand. Mostly the finger count is two Modelling and Simulation of 20 DOF Dexterous Anthropomorphic UTHM Hand Amran Mohd Zaid, M. Atif Yaqub, and Dirman Hanafi R INTERNATIONAL JOURNAL OF SYSTEMS APPLICATIONS, ENGINEERING & DEVELOPMENT Volume 8, 2014 ISSN: 2074-1308 124