title: A Multigrasp Hand Prosthesis for Providing Precision and Conformal Grasps.
abstract: This paper presents the design of an anthropomorphic prosthetic hand that incorporates four motor units in a unique configuration to explicitly provide both precision and conformal grasp capability. The paper describes the design of the hand prosthesis, and additionally describes the design of an embedded control system located in the palm of the hand that enables self-contained control of hand movement. Following the design description, the paper provides experimental characterizations of hand performance, including digit force capability, bandwidth of digit movement, physical properties such as size and mass, and electrical power measurements during activities of daily living.
authors.affiliation: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.
authors.forename: Daniel A
authors.initials: DA
authors.lastname: Bennett
authors.affiliation: Vanderbilt University, and is currently with Parker Hannifin Corp., Division of Human Motion and Control, Cleveland, OH 44124 USA.
authors.forename: Skyler A
authors.initials: SA
authors.lastname: Dalley
authors.affiliation: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.
authors.forename: Don
authors.initials: D
authors.lastname: Truex
authors.affiliation: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.
authors.forename: Michael
authors.initials: M
authors.lastname: Goldfarb
keywords: Hand prosthesis; multigrasp prosthesis; robotic hand; terminal device