## 4 Discussion
\begin{table}
\begin{tabular}{p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt} p{56.9 pt}} \hline \hline
**Reference** & **MCP Joint DoF** & **Active Ab/Ad** & \
\begin{tabular}{c} **Finger** \\ **Arrangement** \\ \end{tabular} &
\begin{tabular}{c} **Actuation** \\ **Mechanism** \\ \end{tabular} & **Key Features** \\ \hline
[42] & 2 & Yes & \begin{tabular}{c} Non-Parallel \\ (Random) \\ \end{tabular} & \
\begin{tabular}{c} Shape memory \\ alloys with wires \\ \end{tabular} &
\begin{tabular}{c} 19-DoF biomimetic hand with 38 \\ shape memory alloys for control. \\ \end{tabular} \\ \hline
[43] & 2 & Yes & \begin{tabular}{c} Non-Parallel \\ (Random) \\ \end{tabular} & \
\begin{tabular}{c} Hybrid—Tendons, &
\begin{tabular}{c} The SKKU hand has 14 DoF \\ across only four fingers. The MCP \\ joint has a decoupled mechanism \\ for separate control of F/E and \\ Ab/Ad motions. \\ \end{tabular} \\ \hline
[44] & 2 & Yes & \begin{tabular}{c} Single finger \\ designed \\ \end{tabular} & \
\begin{tabular}{c} McKibben soft \\ actuators \\ \end{tabular} &
\begin{tabular}{c} A single finger’s biomimetic \\ structure, control, and \\ anthropomorphic motion are \\ achieved through \\ artificial muscles. \\ \end{tabular} \\ \hline
[17] & 2 & Yes & Parallel (default) & Bilateral tendons &
\begin{tabular}{c} The hand consists of soft fingers \\ capable of simultaneous F/E and \\ Ab/Ad motion through selective \\ actuation of tendons. \\ \end{tabular} \\ \hline
[45] & 1 & No & \begin{tabular}{c} Parallel \\ Arrangement \\ \end{tabular} & \
\begin{tabular}{c} Individual DC \\ motors \\ \end{tabular} &
\begin{tabular}{c} 6-DoF myoelectric hand with \\ modular fingers with motors \\ mounted inside the finger body. \\ \end{tabular} \\ \hline
[46] & 1 & No & Non-Parallel & \
\begin{tabular}{c} DC motors with \\ Geneva drive \\ \end{tabular} &
\begin{tabular}{c} This 5-fingered hand has index, \\ middle, ring, and little fingers \\ evenly spaced at 10\({}^{\circ}\). Index and \\ thumb motions are coupled. \\ \end{tabular} \\ \hline
[47] & 1 & No & Not Available & \
\begin{tabular}{c} Twisted string \\ actuation \\ \end{tabular} &
\begin{tabular}{c} 6-DoF hand. \\ 10 motors to provide all \\ the inputs. \\ \end{tabular} \\ \hline
[48] & 1 & No & Parallel & Tendons & \begin{tabular}{c} 10-DoF KIT Prosthetic hand has \\ two motors to control and \\ 3 segmented fingers. \\ \end{tabular} \\ \hline Current Work & 1 & No & \
\begin{tabular}{c} Non-Parallel \\ (Specific) \\ \end{tabular} & Tendons &
\begin{tabular}{c} Fingers oriented at specific angles \\ based on performance indices for \\ optimal grasping capabilities. \\ \end{tabular} \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Comparison of prosthetic hands available in the literature. objects, which is a drawback of the current design. Further, the current prototype built for the grasp experiment is primitive. Hence, a thorough integration of stability-based design must be performed for the prosthetic hand. Additionally, all the electronics, motors, and accessories must be optimally positioned to help develop a complete prosthetic hand. The current work does not focus on the kinematic analysis or configuration of the thumb due to its complexity. A basic thumb design is only included in the prototype solely for grasping experiments. However, as the thumb is crucial for effective grasping, as highlighted earlier, a dedicated thumb analysis will be conducted in future work to develop a fully functional prosthetic hand. Further, a finger mechanism capable of producing sufficient force output at the fingertips must be developed to enable the prosthetic hand to grasp various objects efficiently. Finally, an MTM capable of actuating the fingers individually needs to be designed to have refined movements and enhanced dexterity of the prosthetic hand.