Regensburg-Ulm Hand Model (RUHM)


Unreleased model: The model is under development and not yet included in the managed model repository. The model is used in various research projects and access to the development version can be given on request.

The Regensburg-Ulm hand model (RUHM) is a detailed hand model which includes all extrinsic and intrinsic muscles using data from an anatomical study by Havelková et al. 1 (Charles University, Pilsen) of 16 cadaveric forearms.


The hand model consists of 22 hand segments (including ulna and radius) modelled as rigid bodies linked by physiological idealized joints giving a total of 31 DOF. For the sake of reduced complexity the carpal bones where treated as one rigid body.

The Regensburg-Ulm-Hand-Model was developed by Lucas Engelhardt and Maximilian Melzner 2 from Ulm University and OTH Regensburg respectively.

See also

See also other resources on the hand model: 3 4


If you need to cite the model use the following references:


Havelková L., Zítka T., Fiala P., Rybarova M., Tupý R., Kalis V., & Ismail K.M. (2020). Data for: Hand muscles attachments: A Geometrical model (Version pre pub sc v1.1) [Data set]. Zenodo. (link)


Engelhardt, L., Melzner, M., Havelkova, L., Fiala, P., Christen, P., Dendorfer, S., & Simon, U. (2020). A new musculoskeletal AnyBodyTM detailed hand model. Computer Methods in Biomechanics and Biomedical Engineering, 1–11. (link)


Melzner, M., Engelhardt, L., Simon, U., & Dendorfer, S. (2021). Electromyography Based Validation of a Musculoskeletal Hand Model. Journal of Biomechanical Engineering. (link)


Engelhardt, L., Melzner M., (2020) A new musculoskeletal AnyBodyTM detailed hand model, AnyBody Technology Webcast. (link)