Disclosed here is a user interface for a robotic hand. The user interface anchors a users palm in a relatively stationary position and determines various angles of interest necessary for a users finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the users applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the users finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.
