###### Abstract
The perception and the ability to carry out human movements should be the limitations. Therefore, designing an appropriate manipulator control system and ensuring high work efficiency requires knowledge of the control signals that can be generated by a human hand. Therefore, it is necessary to know the maximum speed of movement of hands in different directions and occurring accelerations. This will allow for the proper shaping of the manipulator drive and control. The studies of the dynamics of the human hand usually concern the kinematic structure, trajectory of movement, and problems in tracking the position and mathematical description of the dynamics of its operation by equations [83; 84; 85]. There is a lack of information on the actual hand speeds and accelerations occurring during manipulation, which should inform the control systems used in manipulators in a master-slave tracking control system. It should be noted that these may vary depending on the activities carried out. The reaching movements are usually faster, while the precise movements require lower speeds. In order to better understand the dynamic processes taking place during the control of manipulators in a master-slave system, research was carried out to determine the speed and acceleration of the human hand during reaching movements and precise movements. It is expected that, thanks to the appropriate design of the drive and control system, the manipulator's foundry and salvage will be able to copy reaching movements of the human hand and slower movements requiring high precision, providing the operator with a sense of full and conscious control of the manipulator [85]. Most of the conducted research concerns the possibility of increasing the precision of manipulators' movements in conditions of limited data transmission and large time delays. In these studies, waveforms representing relatively slow movements with a limited range are most often used as control signals. Conducting effective rescue operations in areas of destruction and catastrophes requires the ability to implement not only precise movements but also fast, long-range movements in the entire manipulator's field of operation. Similar requirements apply to, e.g., foundry manipulators, segregation manipulators, or mining manipulators for crushing boulders that are too large. The development of new 5G data transmission technologies indicates the possibility of significantly reducing problems with data transmission [86; 87; 88; 89; 90; 91]. Therefore, there is a need to know the control signals that can be generated by a human while controlling manipulators in hazardous areas. Their knowledge will allow for proper design of drive systems (achieving the expected speeds of movements), control of rescue manipulators (ensuring the expected precision and stability of movement), and defining the existing dynamic loads of the manipulator structure. Analyzing the real inputs from human hand movements to the control system, the following null hypotheses were also adopted:  
1. Speeds of human hand movements, as inputs introduced into the manipulator control system, strongly depend on the direction of movement (longitudinal, lateral, and vertical)--there are significant differences between speed and direction of movement, which significantly affects the design of the drive system and manipulator control system, and different control procedures are necessary depending on the direction of movement. 2. The maximum speeds of human hand movements during the execution of delivery and precision tasks, which are to be copied in real time by intervention manipulators, do not differ significantly.