Abstract: In a haptic system the human operator acts on an active mechanical device, which lets the user sense and
manipulate computer-generated or real remote environments. From the considerations arising in the control of such
systems, accurate dynamic modeling of the human hand grasping haptic devices could improve stability analysis
and device control design. This paper develops an experimental characterization of the behavior of a human hand
holding a haptic knob in a three-fingered grasp. Traditional system identification techniques are used, moreover,
three different linear and time-invariant lumped dynamic models of the human hand, are presented and discussed.