eng Science and Education Publishing American Journal of Mechanical Engineering 2013-11-22 1 7 443 446 10.12691/ajme-1-7-58 AJME20131758 article Ivan Virgala ivan.virgala@tuke.sk 1 Michal Kelemen 1 Štefan Mrkva 1 Department of Applied Mechanics and Mechatronics, Technical University of Košice / Faculty of Mechanical Engineering, Košice, Slovakia The paper deals with kinematic analysis of humanoid robot hand. The first of all the biological aspects of humanoid hand are discussed. Then the kinematic configuration of humanoid robot hand with 23 DOF is designed. This configuration should be able to do operations like grasping, holding or squeezing. In the paper the direct kinematic model is established using homogeneous transformation matrices. Consequently the workspace of particular finger can be obtain by suitable plotting algorithm in Matlab. http://pubs.sciepub.com/ajme/1/7/58/ajme-1-7-58.pdf handhumanoidkinematicsrobot