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Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand.

Xu Yong1,2,3, Xiaobei Jing2,3, Xinyu Wu4,5,6

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Summary

This study introduces an adaptive prosthetic hand with a functional palm arch, enhancing grasping capabilities. The design mimics human hand movements, achieving 70% of common grasps within size and weight constraints.

Keywords:
adaptive graspingarch functionmulti-fingerprosthetic hand

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Prosthetics

Background:

  • Prosthetic hand development often overlooks palm arch motions crucial for grasping.
  • Existing prosthetic hands primarily focus on digit articulation, neglecting palm adaptability.

Purpose of the Study:

  • To design and implement an arch function in an adaptive multi-finger prosthetic hand.
  • To integrate palm arching capabilities mimicking human hand grasp versatility.

Main Methods:

  • Incorporated two carpometacarpal joints for palm arch formation with the thumb.
  • Utilized a novel tendon-driven transmission with three embedded actuators.
  • Considered weight, cost, and size limitations for practical prosthetic application.

Main Results:

  • The prosthetic hand can perform adaptive grasping with its digits.
  • The palm can form an arch with the thumb, mimicking human hand postures.
  • The arch posture is passively released, enabling transitions between grasp types.
  • The hand weighs 146g, is adult-sized, and achieves 70% of the 10 most frequent grasps.

Conclusions:

  • The developed prosthetic hand successfully integrates palm arching for enhanced grasping.
  • The design offers a compact, lightweight, and functional solution for prosthetic hands.
  • This approach improves prosthetic hand performance by incorporating palm adaptability.