The mechanical design of the MARCUS prosthetic hand

The present article deals with the work carried out in the framework of the TIDE project No.150 MARCUS, for the development of a new three-fingered polyarticulated myoelectric prosthesis. The prosthetic hand is equipped with position, force, slip sensors while a sensor-based control allows it to maintain a stable grasping of the object without affecting the user attention. A general description of the whole system is given by emphasizing the mechanical solutions utilized for the three fingers. Force sensors at the level of the fingertips as well as palm sensors have been integrated in the structure. Results of sensor performances are also shown.