Related Experiment Video
Updated: May 14, 2026
09:41
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
Design of a hand prosthesis with precision and conformal grasp capability
Daniel A Bennett1, Skyler A Dalley, Michael Goldfarb
1Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37240, USA. daniel.a.bennett@vanderbilt.edu
Summary
This study introduces a novel anthropomorphic prosthetic hand with precision and conformal grasp abilities. Its design uses direct-drive actuators for precision and a multi-DOF system for adaptive, conformal grasping by amputees.
Area of Science:
- Biomedical Engineering
- Robotics
- Prosthetics
Background:
- Current prosthetic hands often lack the dexterity for both precise manipulation and adaptive grasping.
- Amputees require prosthetic solutions that restore natural hand function for daily activities.
Purpose of the Study:
- To design and describe an anthropomorphic prosthetic hand capable of both precision and conformal grasps.
- To characterize the actuation and performance of the novel prosthetic hand design.
Main Methods:
- The prosthetic hand design utilizes three direct-drive actuators for precision grasp.
- A separate actuator with six degrees of freedom and compliant coupling enables conformal grasping.
- Actuation degrees, grasp forces, and finger speeds were characterized.
Main Results:
- The design successfully integrates mechanisms for both precision and conformal grasp capabilities.
- Characterization data provides insights into the hand's force and speed performance across different grasps.
- The multi-DOF system allows for adaptive shaping to objects.
Conclusions:
- The proposed anthropomorphic prosthetic hand design offers a dual capability for diverse grasping needs.
- This design has the potential to enhance the functional restoration for upper-limb amputees.
- Further characterization and testing are warranted to validate real-world performance.
