A kinematic model of the human hand has been developed with an interactive computer simulation system. The system provides reconstruction of the hand skeletal surface and segmentation of the surface into individual skeletal units, which are incorporated into the model. The resultant kinematic hierarchy is a working three-dimensional simulation of the hand. In this paper, iterative control of axis positions and bone motions of the hand are employed for visualizing models of joint kinematics. Using improved methods in scientific visualization, real-time computer graphics, math modeling, human biomechanics, and clinical orthopedics, the simulation promises to be a valuable tool for research, medical education, and clinical applications.