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Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review

Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review. Joseph T. Belter, MS; Jacob L. Segil, MS; Aaron M. Dollar, PhD; Richard F. Weir, PhD. Aim Set forth detailed analysis of mechanical characteristics of anthropomorphic prosthetic hands. Relevance

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Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review

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  1. Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review Joseph T. Belter, MS; Jacob L. Segil, MS; Aaron M. Dollar, PhD; Richard F. Weir, PhD

  2. Aim • Set forth detailed analysis of mechanical characteristics of anthropomorphic prosthetic hands. • Relevance • Even state-of-the-art devices lack combination of high functionality, durability, adequate cosmetic appearance, and affordability.

  3. Method • Commercially available myoelectric prosthetic hands, including Vincent, iLimb, iLimb Pulse, Bebionic, Bebionic v2, and Michelangelo hands, were compared on: • Finger design and kinematics. • Mechanical joint coupling. • Actuation methods. • Empirical findings were supplemented with published data on commercial and prototype research prosthetic hands.

  4. Results • Numerous mechanical design parameters are discussed, with examples from the literature. • Crucial design trade-offs are highlighted, including: • Number of actuators and hand complexity. • Hand weight. • Grasp force.

  5. Conclusion • Set of rules of thumb are offered regarding mechanical design of anthropomorphic prosthetic hands.

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