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Open AccessArticle

Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions

by Xiaobei Jing 1,2, Xu Yong 1,2,3, Yinlai Jiang 2,4, Guanglin Li 1,* and Hiroshi Yokoi 2,4,5,*
1
CAS Key Laboratory of Human-Machine Intelligence-Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, China
2
Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan
3
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, China
4
Center for Neuroscience and Biomedical Engineering, The University of Electro-communications, Tokyo 1828585, Japan
5
Beijing Innovation Center for Intelligent Robots and Systems, Beijing 100081, China
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2019, 9(20), 4203; https://doi.org/10.3390/app9204203
Received: 30 July 2019 / Revised: 16 September 2019 / Accepted: 17 September 2019 / Published: 9 October 2019
(This article belongs to the Special Issue Soft Robotics: New Design, Control, and Application)
Most prosthetic hands adopt an under-actuated mechanism to achieve dexterous motion performance with a lightweight and anthropomorphic design. Many have been verified in laboratories, and some have already been commercialized. However, a trade-off exists between the dexterity and the light weight of such prosthetic hands. In general, current commercially available prosthetic hands usually consider one aspect at the expense of the other, such as obtaining diversiform hand motions but an increased weight, or achieving lightweight design but with limited motion functions. This study attempts to attain a balance between the two factors, by realizing diversiform hand motions while reducing the weight as far as possible. An anthropomorphic prosthetic hand is proposed with only three servomotors embedded in a human-sized palm, with multiple functions, such as a stable/adaptive grasp and passive hyperextension. The proposed hand can achieve 13 grasp types with over 80% of the grasp motions under the Cutkosky taxonomy, while it weighs only 132.5 g, at less than 36% of the prosthesis weight limitation based on the study of Kay et al. View Full-Text
Keywords: prosthetic hand; diversiform motion; light weight; anthropomorphic prosthetic hand; diversiform motion; light weight; anthropomorphic
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MDPI and ACS Style

Jing, X.; Yong, X.; Jiang, Y.; Li, G.; Yokoi, H. Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions. Appl. Sci. 2019, 9, 4203.

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