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Van Nierop, O.A. (author), Van der Helm, A. (author), Overbeeke, K.J. (author), Djajadiningrat, T.J.P. (author)We present a skeletal linked model of the human hand that has natural motion. We show how this can be achieved by introducing a new biology-based joint axis that simulates natural joint motion and a set of constraints that reduce an estimated 150 possible motions to twelve. The model is based on observation and literature. To facilitate testing...journal article 2007