Design and Development of a Three Fingered Under Actuated Prosthetic Hand

The study presented a mechanical design of a three fingered under-actuated prosthetic hand. As multi-fingered prosthetic hands are currently being researched and developed globally, the work began with an examination of the prosthetic hand with less fingers and actuators to reduce weight and cost and to increase adaptively. It has been observed that only three fingers out of the five can cover most of the basic tasks of the usual routine. Whereas actuators for each link make it heavy and complex so under actuation phenomenon is used to get phalanx control where less actuators are used than degree pf freedom. Therefore, this study focuses upon an innovative approach to develop a three fingered prosthetic hand by utilizing under-actuation in order to nullify the complexity and to get a much cheaper solution.