Mechatronic Design of a Transradial Cybernetic Hand

This paper presents the mechatronic design of an anthropomorphic 16 degree of freedom, 4 degree of mobility prosthetic hand for use by transradial amputees. Underactuated fingers and differential mechanisms have been used in order to fit all the functional components (actuators, sensors and electronics) in the size of a human hand. Moreover innovative non-back-drivable mechanisms have been designed in order to overcome some of the actual drawbacks of the mechanisms commonly used in prosthetic hands. The new hand is provided with a comprehensive sensory system embedded in the structure of the fingers composed of 40 proprioceptive and exteroceptive sensors. The large employment of sensors, combined with an actuation architecture that allows for grasping and gestures, will permit this hand to be used in clinical experimentation in the near future.