title: Mechanical design and performance specifications of anthropomorphic prosthetic hands: a review.
abstract: In this article, we set forth a detailed analysis of the mechanical characteristics of anthropomorphic prosthetic hands. We report on an empirical study concerning the performance of several commercially available myoelectric prosthetic hands, including the Vincent, iLimb, iLimb Pulse, Bebionic, Bebionic v2, and Michelangelo hands. We investigated the finger design and kinematics, mechanical joint coupling, and actuation methods of these commercial prosthetic hands. The empirical findings are supplemented with a compilation of published data on both commercial and prototype research prosthetic hands. We discuss numerous mechanical design parameters by referencing examples in the literature. Crucial design trade-offs are highlighted, including number of actuators and hand complexity, hand weight, and grasp force. Finally, we offer a set of rules of thumb regarding the mechanical design of anthropomorphic prosthetic hands.
authors.affiliation: Yale University, Department of Mechanical Engineering and Materials Science, 10 Hillhouse Ave, New Haven, CT 06511. joseph.belter@yale.edu.
authors.forename: Joseph T
authors.initials: JT
authors.lastname: Belter
authors.forename: Jacob L
authors.initials: JL
authors.lastname: Segil
authors.forename: Aaron M
authors.initials: AM
authors.lastname: Dollar
authors.forename: Richard F
authors.initials: RF
authors.lastname: Weir
mesh_terms: D000886:Anthropometry; D001186:Artificial Limbs; D055615:Electrical Equipment and Supplies; D006225:Hand; D018737:Hand Strength; D006801:Humans; D055595:Mechanical Phenomena; D011474:Prosthesis Design