Development of Anthropomorphic Prosthesis Hand H and Its Control

This paper proposes H, an anthropomorphic prosthesis hand with 5 fingers and human hand size. It consists of the combination of direct actuated and underactuated system for a dexterous grip. The H also has modularized 2 DOF of MCP mechanism in a thumb for power grip. The adduction-abduction and antepositon-retroposition movements are generated by this structure of thumb which is the function of addubtor pollicis and thenar muscles. A direct actuated system of index finger and underactuated system of the other fingers without thumb and index finger adopt for power grip and precision grip. The joint of DIP movements in each fingers are generated by extension spring system which give the functions of extension and flexion similar to a human hand. The motions of H are simulated with commercial software called RecurDyn. The hand is controlled using a stiffness control with force feedback for stable and dexterous grips.