title: A novel design method of anthropomorphic prosthetic hands for reproducing human hand grasping.
abstract: Because hand is often used for grasping, developing a design of prosthetic hands, particularly light and compact underactuated anthropomorphic transradial prostheses for reproducing human hand complex grasping is crucial for upper-limb amputees. Obviously, the less the number of actuators is, the worse the anthropomorphic motion capability of the prosthetic hands will be. This paper aims to design a transmission mechanism with few motors actuating fingers which could serve the relatively accurate grasp movement of a human hand and has the potential to be embedded in a palm including the motors. We start with establishing an index for evaluating the anthropomorphic motion capability of a prosthetic hand. Based on the optimization of this index, we determine the number of actuators in fingers and the transmission relationship between the actuators and the metacarpophalangeal(MCP) joints. Then, a new design method to mechanically implement the transmission relationship based on a novel decomposition of transmission matrix is proposed in this paper. Utilizing this method, we obtained the final mechanical structure of a new prosthetic hand.
authors.forename: Baiyang
authors.initials: B
authors.lastname: Sun
authors.forename: Caihua
authors.initials: C
authors.lastname: Xiong
authors.forename: Wenrui
authors.initials: W
authors.lastname: Chen
authors.forename: Qiaofei
authors.initials: Q
authors.lastname: Zhang
authors.forename: Liu
authors.initials: L
authors.lastname: Mao
authors.forename: Qin
authors.initials: Q
authors.lastname: Zhang
mesh_terms: D000674:Amputees; D001186:Artificial Limbs; D005385:Fingers; D006225:Hand / Q000502:physiology*; D018737:Hand Strength / Q000502:physiology*; D006801:Humans; D009068:Movement; D011474:Prosthesis Design; D015203:Reproducibility of Results