function updateHand()
{
    var seconds = new Date().getTime() / 1000;
    var amp = Math.sin(seconds*3)+1;
    var deg2rad = Math.PI/180;

    theta1 = -10*amp*deg2rad;
    theta2 = -10*amp*deg2rad;
    theta3 = -20*amp*deg2rad;
    theta4 = -20*amp*deg2rad;
    theta5 = -40*amp*deg2rad;

      // link1

    linkFrame1.matrix.identity(); 
    linkFrame1.matrix.multiply(new THREE.Matrix4().makeTranslation(xPosition,yPosition,0));   
    linkFrame1.matrix.multiply(new THREE.Matrix4().makeRotationZ(theta1));    
      // Frame 1 has been established
    link1.matrix.copy(linkFrame1.matrix);
    link1.matrix.multiply(new THREE.Matrix4().makeTranslation(2,0,0));   
    link1.matrix.multiply(new THREE.Matrix4().makeScale(4,1,1));    

      // link2

    linkFrame2.matrix.copy(linkFrame1.matrix);      // start with parent frame
    linkFrame2.matrix.multiply(new THREE.Matrix4().makeTranslation(4,0,1));
    linkFrame2.matrix.multiply(new THREE.Matrix4().makeRotationZ(theta2));    
      // Frame 2 has been established
    link2.matrix.copy(linkFrame2.matrix);
    link2.matrix.multiply(new THREE.Matrix4().makeTranslation(2,0,0));   
    link2.matrix.multiply(new THREE.Matrix4().makeScale(4,1,1));    


      // link3

    linkFrame3.matrix.copy(linkFrame2.matrix);
    linkFrame3.matrix.multiply(new THREE.Matrix4().makeTranslation(4,0,0));
    linkFrame3.matrix.multiply(new THREE.Matrix4().makeRotationZ(theta3));    
      // Frame 3 has been established
    link3.matrix.copy(linkFrame3.matrix);
    link3.matrix.multiply(new THREE.Matrix4().makeTranslation(2,0,0));   
    link3.matrix.multiply(new THREE.Matrix4().makeScale(4,1,1));    


      // link4

    linkFrame4.matrix.copy(linkFrame1.matrix);
    linkFrame4.matrix.multiply(new THREE.Matrix4().makeTranslation(4,0,-1));
    linkFrame4.matrix.multiply(new THREE.Matrix4().makeRotationZ(theta4));    
      // Frame 4 has been established
    link4.matrix.copy(linkFrame4.matrix);
    link4.matrix.multiply(new THREE.Matrix4().makeTranslation(2,0,0));   
    link4.matrix.multiply(new THREE.Matrix4().makeScale(4,1,1));    

      // link5

    linkFrame5.matrix.copy(linkFrame4.matrix);
    linkFrame5.matrix.multiply(new THREE.Matrix4().makeTranslation(4,0,0));
    linkFrame5.matrix.multiply(new THREE.Matrix4().makeRotationZ(theta5));    
      // Frame 5 has been established
    link5.matrix.copy(linkFrame5.matrix);
    link5.matrix.multiply(new THREE.Matrix4().makeTranslation(2,0,0));   
    link5.matrix.multiply(new THREE.Matrix4().makeScale(4,1,1));    
      

    link1.updateMatrixWorld();
    link2.updateMatrixWorld();
    link3.updateMatrixWorld();
    link4.updateMatrixWorld();
    link5.updateMatrixWorld();

    linkFrame1.updateMatrixWorld();
    linkFrame2.updateMatrixWorld();
    linkFrame3.updateMatrixWorld();
    linkFrame4.updateMatrixWorld();
    linkFrame5.updateMatrixWorld();

}