Abstract

The Hannes prosthetic hand has been implemented as a detailed model within the MuJoCo simulation environment to enable physics-based investigation of its functionality. The model reproduces the kinematics of the finger joints and the actuation principles of the hand, allowing the study of motion dynamics, force interactions, and grasping behavior under controlled conditions. By embedding the Hannes hand in MuJoCo, researchers can perform repeatable and customizable experiments that capture realistic interactions with virtual objects while maintaining full control over parameters such as joint velocity, applied forces, and contact constraints. This implementation serves as a flexible foundation for testing prosthetic control algorithms and exploring user interaction scenarios prior to hardware validation, supporting the development of more effective and adaptive human–prosthesis integration strategies. This model was implemented in the framework of the Horizon Europe project INTELLIMAN.