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Related Experiment Video

Updated: Feb 24, 2026

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
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Prosthetic design directives: Low-cost hands within reach.

G K Jones, A Rosendo, R Stopforth

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |August 18, 2017
    PubMed
    Summary

    This study introduces the Touch Hand II, a low-cost 3D-printed prosthetic hand. Sensorless techniques and a finite state machine enable affordable, functional upper limb prosthetics for developing countries.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Technology
    • Prosthetics Design

    Background:

    • Millions worldwide lack upper limbs, disproportionately in developing nations.
    • High cost of advanced prosthetics limits accessibility.
    • Emerging technologies like 3D printing offer potential for low-cost solutions.

    Purpose of the Study:

    • To present the electronic and control design of the Touch Hand II, a low-cost prosthetic hand.
    • To explore sensorless techniques for reduced complexity and cost.
    • To develop a functional prosthetic hand for individuals in developing countries.

    Main Methods:

    • Utilized sensorless techniques to simplify electronics and reduce costs.
    • Developed a closing and opening finite state machine (COFSM) for joint control.
    • Implemented a supervisory switching control scheme for grip speed and strength.

    Main Results:

    • The prosthetic hand successfully replicated ten common grasps.
    • Demonstrated the ability to grip everyday objects.
    • Achieved preset torque and speed settings for specific grasp types.

    Conclusions:

    • Sensorless techniques are viable for low-cost prosthetic design.
    • The Touch Hand II offers a practical, affordable solution for upper limb prosthetics.
    • Future work includes myoelectric signal control and addressing electromagnetic interference.