This is a sample paper:
See section IV.
You need to develop a some equations namely differential equations that model the movement of your fingers. Solution to these equations become the input signals to your hand and then it does something systematic and predictable.
People do not build these systems at first, what they do is they write a simulator first to simulate the hand and fingers , then compute the said solutions and finally see if the solutions actually work.
Once they have some success with simulation then they build the electro-mechanical controls.
You should know that human fingers are one the most sophisticate controlled dynamical systems in the universe!
If I were to contribute, this is kinda what I plan:
- Single finger simulation software
- Single finger dynamical solutions for very specific movements e.g. pointing, scratching
- Then I will learn from the above and code a simulator for the 5 fingers and wrist
Assumption being that there is a huge computer attached to the hand to compute the solutions it needs e.g. 10times a second.
Good design and the hardest part of a design is the genius to find a simple system at first to simulate.