Design and Fabrication of a Low-cost Multi-function Prosthetic Hand

In this paper detail design and fabrication procedure of ahighly anthropomorphic human scale 6 DOF dexterousrobotic hand, which can be utilized as a prosthesis forbelow-elbow amputees, is described. Exclusivity of thisprosthetic hand is its high functionality despite low cost.Design and assembling of a miniature linear actuator and anovel sensor combination employed for activating andclosed loop control of this prosthetic hand is reported aswell. In order to achieve a prosthetic hand, the designedmechanism and structure is very similar to an actual humanhand and can perform acceptable in gripping objects andmaking different gestures. The sensor combination isproposed to make the user confident while grasping objectsby adjustment of the force exerted to the object.

Keywords:

Robotic Hand , Prosthetic Hand , LinearActuator , Grasping , Hand Gestures , Force Control