Improvement of an Underactuated Prosthetic Hand Based on Grasp Performance Evaluation

파지성능 평가에 기반한 의수용 핸드의 설계 개선

  • Received : 2015.11.30
  • Accepted : 2016.07.04
  • Published : 2016.10.01


It has been shown that the adaptive grasp feature can be implemented by underactuated robotic hands with a minimal number of actuators. Following this approach, a new design of prosthetic hand is presented. A method is proposed for evaluating grasp performance using cylinders, spheres, and square bars of various sizes. The effects of the major design parameters were investigated experimentally and an improved design is proposed.


Prosthetic Hand;Underactuated Mechanism;Grasp Performance Evaluation;Design of Experiments


Supported by : 한국연구재단


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