Abstract
Although arch motions of the palm substantially contribute to frequent hand grasping, they are usually neglected in the development of prosthetic hands which focuses on digit movements. We designed the arch function for its implementation on an adaptive multi-finger prosthetic hand. The digits from the developed hand can perform adaptive grasping, and two carpometacarpal joints enable the palm of the prosthetic hand to form an arch with the thumb. Moreover, the arch posture can be passively released, mimicking the human hand switching between sphere and medium wrap grasps according to the situation. Other requirements such as weight, cost, and size limitations for hand prostheses were also considered. As a result, we only used three actuators fully embedded in the palm through a novel tendon-driven transmission. Although the prosthetic hand is almost the same size of an adult hand, it weighs only 146 g and can perform 70% of the 10 most frequent grasps.
Highlights
The hand is essential for humans to interact with the world
Bullock et al identified the frequency of human grasps in some activities of daily living and extracted the ten most frequent grasp types, which account for approximately 80% of all the grasping tasks [13]
We propose an adaptive multi-finger prosthetic hand that has human-like appearance and size
Summary
The hand is essential for humans to interact with the world. Its dexterous anatomy makes the hand a complex integrated system with high degrees of freedom (DOFs) that enable a vast variety of uses [1,2,3,4,5,6,7,8]. The taxonomy developed by Feix et al [15] is considered the most complete Using this taxonomy, Bullock et al identified the frequency of human grasps in some activities of daily living and extracted the ten most frequent grasp types, which account for approximately 80% of all the grasping tasks [13]. Sensors 2019, 19, x FOR PEER REVIEW activities of daily living and extracted the ten most frequent grasp types, which account for Sensors 2019, 19, 3539 approximately 80% of all the grasping tasks [13] We designed the arch function of the human hand and implemented it to an adaptive multi-finger prosthetic hand.
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