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Updated: Oct 19, 2025

Capturing Representative Hand Use at Home Using Egocentric Video in Individuals with Upper Limb Impairment
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The "Federica" Hand.

Daniele Esposito1,2, Sergio Savino3, Emilio Andreozzi1,2

  • 1Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples "Federico II", 80125 Naples, Italy.

Bioengineering (Basel, Switzerland)
|September 25, 2021
PubMed
Summary
This summary is machine-generated.

The "Federica" hand is a low-cost, 3D-printed prosthetic hand that uses a novel mechanical system for finger actuation and a force sensor for control, offering an efficient and accessible solution.

Keywords:
3D-printingactive hand prosthesisdifferential force distributionforce-myography controlvibrotactile sensory feedback

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Rehabilitation Technology

Background:

  • Traditional hand prostheses can be costly and complex to manufacture.
  • 3D printing offers a pathway to more accessible and affordable prosthetic devices.
  • Existing control methods like EMG have limitations in terms of setup and signal processing.

Purpose of the Study:

  • To develop and evaluate a low-cost, 3D-printed hand prosthesis.
  • To implement a novel mechanical actuation and control system for prosthetic hands.
  • To provide an open-source platform for prosthetic hand development.

Main Methods:

  • A 3D-printed hand prosthesis, the "Federica" hand, was designed and fabricated.
  • A single servomotor actuates five fingers via inextensible tendons and a differential mechanism.
  • A force sensor monitors muscle contraction for proportional control, and servomotor current provides grip force feedback.
  • An Arduino board serves as the processing unit.

Main Results:

  • The prosthesis achieves synergistic finger actuation and secure grasping of various objects.
  • The force sensor provides a simpler alternative to EMG for muscle contraction monitoring.
  • The device exhibits a rapid activation speed (approx. 0.5 seconds) and a low cost (<100 USD).
  • The "Federica" hand is lightweight, efficient, and effective.

Conclusions:

  • The "Federica" hand represents a significant advancement in low-cost, functional prosthetic technology.
  • Its open-source nature promotes wider adoption, customization, and further innovation in the field.
  • The integrated force sensing and feedback system offers a user-friendly control and interaction method.