Machines, Volume 9, Issue 2 (February 2021) – 24 articles
Cover Story (view full-size image): The study focuses on performance tests carried out on a low-cost and 3D printed prosthetic hand, named “Federica”. The prosthesis can perform an adaptive grasp function using a single servomotor, which actuates all the five fingers by inextensible tendons. A cylindrical handlebar with a built-in load cell was used to measure the prosthesis grip force. Force sensors were also applied on selected phalanxes for mapping the grasp force distribution. Moreover, by measuring the actuator tendon displacement and estimating its exerted force, the energy efficiency of the prosthesis and the works required for hand closing–opening were computed. The grip force was enough to support the user in daily life actions, and the hysteresis for a complete cycle of closing–opening was lower than that of many commercial prostheses. View this paper.
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