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Conf Proc IEEE Eng Med Biol Soc. 2010;2010:499-502. doi: 10.1109/IEMBS.2010.5627148.

Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand.

Author information

1
ARTS Lab of Scuola Superiore Sant'Anna, 56025 Pontedera, Italy.

Abstract

This paper presents the preliminary design of a new dexterous upper-limb prosthesis provided with a novel anthropomorphic hand, a compact wrist based on bevel gears and a modular forearm able to cover different levels of upper-limb amputations. The hand has 20 DoFs and 11 motors, with a dexterous three fingered subsystem composed by a fully actuated thumb, and an hybrid index and middle fingers to enable dexterous manipulation and enhance grasp performance.

PMID:
21096539
DOI:
10.1109/IEMBS.2010.5627148
[Indexed for MEDLINE]

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