The ¨Wrist Model¨ reported by Gonzalez in Opensim SimTK have 10 degrees of freedom, and a total of 23 actuator muscles, with movement in the forearm, wrist, thumb (no flexion) and Index, but as the purpose of our investigation is to evaluate the complete movements of a real hand in simulation, we decided to modify this model and complete the movement of the hand adding the missing degrees of freedom to the thumb, middle, ring and little fingers. This more complete model is used for simulation of the predicted movements of a hand motion classifier under Matlab, for a virtual hand application. The tool ¨Computed Muscle Control¨ (CMC) was used review the sequence of muscle excitations of these movements. Programs such as rhinoceros, paraview and notepad++ were used to modify figures in .vtp format to read opensim models.

In the Documents section we find the .mot files of the movements that we created to load in the presented model.