Design of Multi-Grip Patterns Prosthetic Hand With Single Actuator

Area of Science:

• Biomedical Engineering
• Robotics
• Prosthetics Design

Background:

• Effective hand prosthesis design requires grasping ability, stability, and cosmetic appearance, which are challenging to integrate.
• Conventional single-actuator prosthetics offer limited functionality, often restricted to basic open/close motions.

Purpose of the Study:

• To present the design and performance of a novel five-fingered prosthetic hand utilizing a single actuator.
• To enable multiple grip patterns for essential daily tasks and achieve substantial grasping force.

Main Methods:

• Mechanism synthesis involving multiple sets of rigid four-bar linkages to achieve varied finger and thumb motions.
• Design and development of a one-degree-of-freedom prosthetic hand system.
• Performance evaluation focusing on grip patterns and achieved grasping force.

Main Results:

• The prosthetic hand successfully performs one neutral position and two dominant daily-life grip patterns.
• A significant grip force of 34.5 N was achieved, surpassing that of many multi-actuator commercial prostheses.
• The design offers improved functionality compared to conventional single-actuator hands.

Conclusions:

• The developed single-actuator prosthetic hand provides a viable alternative for improved prosthetic functionality.
• This design bridges the gap between conventional and multi-degree-of-freedom prosthetic hands.
• The combination of multiple grip patterns and high grip force offers enhanced utility for users.