The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand

Designed based on the underactuated mechanism, HIT/ DLR Prosthetic Hand is a multi-sensory five-fingered bioprosthetic hand. Similarly with adult's hand, it is simple constructed and comprises 13 joints. Three motors actuate the thumb, index finger and the other three fingers each. Actuated by a motor, the thumb can move along cone surface, which resembles human thumb and is superior in the appearance. Driven by another motor and transmitted by springs, the mid finger, ring finger and little finger can envelop objects with complex shape. The appearance designation and sensory system are introduced. The grasp experiments are presented in detail. The hand has been greatly improved from HIT-ARhand. It was verified from experimentations, the hand has strong capability of self adaptation, can accomplish precise and power grasp for objects with complex shape.