Grasp forces analysis based on statistic model of an underactuated prosthetic finger

This paper proposes a static model based on the virtual work principle for the prosthetic hand and analyses the influence of the torque of the proximal phalanx and the spring stiffness of coupling elastic rods for the mechanism grasping forces, which becomes the cornerstone to realize the stable grasping. From the simulation results, when the shape and the posture of the grasped object are determined, the proximal joint torque plays a decisive role in controlling phalanxes grasping forces.