الفهرس 
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Abstract
The human hand is examindd, regarding its kinematics, types of joint
existing and their degree of freedom, as well as their modes of operation
A mechanical model to simulate the mode of operation of different joint is
presented.
The screw coordinates with dual number criteria is used to examine the
effect of the external force on the joints of the human’s digits (Finger and.
Thumb).This technique is used instead of the classical method because it is
easier and quicker .
The effect of the angles of inclination of the external force on the
tendons and muscles -as well as the reaction forces is studied for the case
of pinch function. The results are usefull to minimize the effortexerted
by the human hand through man-machine interaction .
The total human arm ( Upper Extremity ) with and without orthosis
device, is kinematically and dynamically studied. The equilibrium equations
which relate the Joint’ s reaction forces a nd moments to each other are found.
The constraint equa tions which control the design of the orthosis
device for two types of the orthosis are derived too.