668 A Direct-Drive Hand: Design, Modeling and Control M. Ebner, R. Wallace An artificial 15 degrees of mobility direct drive hand, slightly bigger than a human hand, is presented. The underlying technology are the miniature direct drive actuators recently developed. The motivation for our design and the construction plan for the hand is given. The dynamics of the hand are analyzed theoretically and a model for control of the hand is presented. Finally we describe our experiences made while experimenting with the hand. A direct drive hand graphics interface has been developed to simulate the dynamics of the hand and to test out control algorithms for the hand.