Design and Fabrication of a Low-cost Multi-function Prosthetic Hand

In this paper detail design and fabrication procedure of a highly anthropomorphic human scale 6 DOF dexterous robotic hand, which can be utilized as a prosthesis for below-elbow amputees, is described. Exclusivity of this prosthetic hand is its high functionality despite low cost. Design and assembling of a miniature linear actuator and a novel sensor combination employed for activating and closed loop control of this prosthetic hand is reported as well. In order to achieve a prosthetic hand, the designed mechanism and structure is very similar to an actual human hand and can perform acceptable in gripping objects and making different gestures. The sensor combination is proposed to make the user confident while grasping objects by adjustment of the force exerted to the object.