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A Multigrasp Hand Prosthesis for Providing Precision and Conformal Grasps.

Daniel A Bennett1, Skyler A Dalley2, Don Truex1

  • 1Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.

IEEE/ASME Transactions on Mechatronics : a Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
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This study introduces a novel anthropomorphic prosthetic hand with four motors for precise and conformal grasping. Its embedded palm control system allows self-contained movement, validated by performance testing.

Keywords:
Hand prosthesismultigrasp prosthesisrobotic handterminal device

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Prosthetics

Background:

  • Advanced prosthetic hands are crucial for restoring functionality to amputees.
  • Existing prosthetics often struggle to balance precision and conformal grasp capabilities.
  • Integrated control systems are needed for user-friendly and self-contained prosthetic operation.

Purpose of the Study:

  • To design and characterize an anthropomorphic prosthetic hand with integrated control.
  • To achieve both precision and conformal grasp using a unique four-motor configuration.
  • To evaluate the hand's performance for activities of daily living.

Main Methods:

  • Design of an anthropomorphic prosthetic hand with four motor units.
  • Development of an embedded control system within the palm.
  • Experimental evaluation of digit force, movement bandwidth, physical properties, and power consumption.

Main Results:

  • The prosthetic hand successfully integrates precision and conformal grasp capabilities.
  • The embedded control system enables self-contained hand movement.
  • Performance characterizations demonstrated functional digit force, movement bandwidth, and reasonable power usage during simulated daily activities.

Conclusions:

  • The designed anthropomorphic prosthetic hand offers a promising solution for restoring grasp functionality.
  • The integrated control system simplifies operation and enhances user experience.
  • Further development could lead to more advanced and intuitive prosthetic limb replacements.