A multigrasp hand prosthesis for transradial amputees.

This paper presents the design of a multi-degree-of-freedom, anthropomorphic hand for transradial amputees, and also presents experimental data characterizing its performance. Unlike state-of-the-art commercially available prosthetic hands, the hand described herein is capable of providing eight canonical postures (and movement between these postures). The experimental characterization includes its capability to provide eight canonical grasp postures; the frequency response of finger motion; and its grasping force capability (as a function of finger position). Other performance specifications, such as total mass and audible noise, are also provided.