A Matlab code to simulate one finger only making a gripping motion and calculates the torque exerted by one of the joints where: $\%$ Given dimensions $($meters$)$

width$\_$joint $=2$e$-3$; $\%2$ mm converted to meters

height$\_$joint $=7$e$-3$; $\%7$ mm converted to meters

length joint $=20$e$-3$

density $=1200-$ Polymer density in kg$/$m$^3($adjust for specific polymer$)$

alpha $=??$

volume $=$ width joint $*$ height joint $*$ length joint

mass $=$ density $*$ volume

I $=(1/12)*$ mass $*($height joint$^2+$ width joint$^2)$