Five-fingered Prosthetic Hand Research Articles

F3Hand: A Five-Fingered Prosthetic Hand Driven with Curved Pneumatic Artificial Muscles.

Recently, many five-fingered prosthetic hands have been commercialized. However, most five-fingered prosthetic hands have heavyweight problems. In addition, their fingers with high rigidity are difficult to fit the object to be grasped. This paper reports a five-fingered prosthetic hand driven with curved pneumatic artificial muscles. By using the curved pneumatic artificial muscles as a skeleton and an actuator of the finger, flexible grasps and natural motions are achieved. Its weight of 255 g is less than one-third of the conventional fivefingered prosthetic hand. An evaluation using SHAP demonstrated that an amputee was able to operate various abstract objects.

Implementation of electroencephalography controlled prosthetic hand

The purpose of brain machine interface (BMI) is to provide a communication path between brain signals and external devices. Use of brain signals for restoring function of impaired body parts using scientific methods require brain machine interface. This article presents BMI to control five-fingered prosthetic hand using the electroencephalography (EEG) signals. The core objective of the system is to develop a control system that will be able to communicate with the brain thoughts. EEG signals captured from the human scalp are used as information carrier for brain control interface (BCI) system. This research article discusses the development of a system to assist disable persons using EEG based signals.

Design of Multi-Grip Patterns Prosthetic Hand With Single Actuator.

In hand prosthesis design, the important characteristics that directly affect hand performance are the ability to grasp various type of objects, grasping force that provides stability for holding objects, and cosmetic appearance that resembles the human hand. The presence of all of these characteristics is currently a challenging task for prosthesis design. This paper presents the design of a five-fingered prosthetic hand that has multiple grip patterns with the use of only one actuator in order to perform important tasks in daily life and which achieves significant grip force from the large size of the actuator. The prosthetic hand is capable of performing one neutral position and two grip patterns that are dominant in daily life tasks. Different move patterns are achieved through the use of multiple sets of rigid four-bar linkages which provide different motions to fingers and thumb when the mechanism is actuated to the opposite direction. This paper describes the design of the prosthesis, mechanism synthesis, and achieved performance. The prosthetic hand developed here, having one degree of freedom, is an improvement from conventional single-actuator hands, which can only perform open/close motion. Whereas achieved grip force (34.5 N) is higher than multiple-actuator hands in market. Thus, this design could be an alternative answer of improvement between conventional and multiple degree of freedom prosthetic hands.

Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators

In this research paper, non-conventional actuation technology, based on shape memory alloys, is employed for the development of an innovative low-cost five-fingered prosthetic hand. By exploiting t...

Adaptive control for a five-fingered prosthetic hand with unknown mass and inertia

An adaptive control strategy for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand with unknown mass and inertia of all the fingers is developed in this work. In modeling, the various links used for the five fingers of the prosthetic hand are shown. A cubic polynomial for the trajectory planning is used. In particular, using a desired orientation for three-link fingers, the forward and inverse kinematics of the prosthetic hand system regarding the analytical solutions between the angular positions of joints and the positions and orientations of the end-effectors (fingertips) have been obtained. The simulations of the resulting adaptive controller with five-fingered prosthetic hand show enhanced performance.