title: Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand.
abstract: This paper presents the preliminary design of a new dexterous upper-limb prosthesis provided with a novel anthropomorphic hand, a compact wrist based on bevel gears and a modular forearm able to cover different levels of upper-limb amputations. The hand has 20 DoFs and 11 motors, with a dexterous three fingered subsystem composed by a fully actuated thumb, and an hybrid index and middle fingers to enable dexterous manipulation and enhance grasp performance.
authors.affiliation: ARTS Lab of Scuola Superiore Sant'Anna, 56025 Pontedera, Italy.
authors.forename: Marco
authors.initials: M
authors.lastname: Controzzi
authors.forename: Christian
authors.initials: C
authors.lastname: Cipriani
authors.forename: Beryl
authors.initials: B
authors.lastname: Jehenne
authors.forename: Marco
authors.initials: M
authors.lastname: Donati
authors.forename: Maria Chiara
authors.initials: MC
authors.lastname: Carrozza
mesh_terms: D000886:Anthropometry; D001186:Artificial Limbs; D001696:Biomechanical Phenomena / Q000502:physiology; D006225:Hand / Q000502:physiology*; D050823:Hand Joints / Q000502:physiology*; D006801:Humans; D011474:Prosthesis Design; D013710:Tendons