Grip force modeling of a tendon-driven prosthetic hand

This paper describes a grip force analysis of a tendon-driven prosthetic hand. The grip force is equivalent to tensile force transmitted by a link mechanism. Assuming that the tensile force to pull tendon is constant, the grip force according to the angle of MCP joint is analyzed by the statics. From experimental results, we show the maximum grip force of tendon-driven finger is 6N when the constant tensile force is 14N.