Abstract: With the increase of the number of upper limb disabilities, requirement of humanoid artificial hand is more and more. Under-actuated multi-fingered prosthetic hand based rope driving has simple and compact structure, light weight and it can shape-adaptively grip objects stably and flexibly according to the target object shape. The index finger and thumb for pinch and lateral pinch are very often operated in everyday life. So pinch and lateral pinch largely determine the success of prosthetic hand design. In the guise of the preliminary design stage, combination of the use of MATLAB modeling calculations, and ADAMS movement simulation can visually verify if the main design parameters of prosthetic hand index finger and thumb are appropriate, functionally achieve the pinch and lateral pinch, so as to lay the foundation for the detailed design.

Key words: under-actuation, MATLAB, ADAMS, pinch, lateral pinch, virtual simulation