Wrist-Powered Partial Hand Prosthesis Using a Continuum Whiffle Tree Mechanism: A Case Study

Among the advances in upper extremity prostheses in the past decades, only a small portion of the results were obtained for partial hand prostheses, possibly due to the highly diverse partial hand presentations and limited space for component integration. In an attempt to address these challenges, this paper presents the design, construction, installation, and experimental characterization of a wrist-powered partial hand prosthesis developed in Shanghai Jiao Tong University (hereafter referred to as the JTP hand), customized for a specific amputee. The JTP hand possesses: 1) a continuum whiffle tree mechanism to allow adaptive grasping; 2) a force-magnifying partial gear pair to enhance the power of the grip; and 3) a phalange-embedded disengageable ratchet to enable or disable backdrivability. Various grasps and gestures were formed using the JTP hand. The obtained results suggest that the proposed design might be a viable option for patients with transmetacarpal amputation.