Science and Education Publishing American Journal of Mechanical Engineering 1 7 2013 11 22 Kinematic Analysis of Humanoid Robot Hand 443 446 EN Ivan Virgala Department of Applied Mechanics and Mechatronics, Technical University of Košice / Faculty of Mechanical Engineering, Košice, Slovakia Michal Kelemen Štefan Mrkva AJME20131758 10.12691/ajme-1-7-58 2013 10 29 2013 11 12 2013 11 22 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.