Publication

This paper addresses the conceptual design and thevirtual prototyping of a low-cost, under-actuated prosthetic hand.Particular attention has been paid to ensuring that size, weight,and appearance are as similar as possible to those of a humanhand, in order to increase user acceptance. The proposed devicecomprises a total of 10 Degrees of Freedom (DoF) and 4 Degreesof Actuation (DoA), three of which are enabled by employingelectric motors and a tendon transmission system, whereas thelast DoA is simply manually actuated by the end-user (e.g. usingthe still-functioning limb). The virtual prototype of the handallows easy evaluation of the hand’s grasping capabilities as wellas its maximum gripping force.