  Following the recent advances in the field of robotic hand development, it
can be inferred that the greatest challenge lies in restoring not just general
functionality, but the delicate dexterity of the human hand. Results from
studying its movement kinematics and dynamics indicate that the intricate
anatomical features and structural details are essential for producing such
versatility. To address this, we present the Anatomically Correct,
Biomechatronic (ACB) Hand, by explaining the purpose and implementation of
every functionally significant bone, ligament, finger-actuating intrinsic and
extrinsic muscle, tendinous network and pulley system. We biomechanically
validate our results using Landsmeers models, and demonstrate the hands
performance by examining the execution of certain synergistic movements,
analyzing fingertip trajectories, performing the Kapandji test, and realizing
the GRASP taxonomy. This study aims to promote how anatomically accurate design
considerations can assist in consequentially attaining more human-like
functionality, while still allowing for robust structural elements towards
advancing research in hand biomechanics, prosthetics and teleoperation.
