## 5 Conclusions  
Given the present research and cited work, it can be said that low-cost prosthetics still have many stages of advancement ahead. If sufficient time and resources are allocated, the results can be comparable to the success of open-source software, which closely competes with closed-source and commercial variants. The growing interest in prosthetics along with developments in low-cost AM and CAD software evolution will pave the way for the future. Ongoing work is devoted to adding further features to the proposed device. In this paper, the best motion system for the project was established by using motors to generate the grasping force in a transitional partial hand prosthetic. The main results, contributions, and novelty may be considered:  
* The proposed design differentiates itself from some of the rest by containing only standardized and 3D-printed parts. Furthermore, while other devices are either body-powered or externally powered, this prototype has both systems. Hybrid actuation is not something commonly found in low-cost transitional partial hand prosthetic devices. From the literature review, we found some hybrid shoulder devices, but those segment the device into two parts: (1) body-powered and (2) externally powered. The novelty in the proposed configuration is that the same segment is actuated in a hybrid manor. * From a cost point of view, even if some devices may be more inexpensive than the proposed device, it can be still considered as a low-cost device compared with some commercial offerings. The cost analysis resulted in a total of 260 euros for the cost of the prototype. On one hand, the proposed device has more features than its cheaper competition. On the other hand, the costs are much lower than the ones on the market. * The ball bearing rotational system and the torsional spring-based return system offer a more reliable control of motion. These systems may benefit the user even if the weight, complexity, and costs are higher than some other devices. * The resulted measured force of 2.8 kgf can be improved, as it is smaller than that of other commercial prosthetics. The used DC motors can provide this flexibility. Enhanced performance can be achieved using a similar set of motors that have better characteristics with a similar form factor. The issues that may occur by using \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**No** & **Property** &
\begin{tabular}{c} **Proposed** \\ **Prototype** \\ \end{tabular} & **Flexy Hand 2** & **Dextra** & **X-Limb** & **Victoria** \\ \hline
1 & Creator & The authors & [PERSON] & \begin{tabular}{c} [PERSON] \\ \end{tabular} & \
\begin{tabular}{c} [PERSON] \\ \end{tabular} &
\begin{tabular}{c} VHP \\ \end{tabular} \\
2 & Actuation & Mixed & BP & EP & EP & EP \\
5 & Locking & \(\checkmark\) & \(\times\) & \(\times\) & \(\times\) & \(\checkmark\) \\
6 & Pretension & \(\checkmark\) & \(\checkmark\) & \(\times\) & \(\times\) & \(\times\) \\
8 & Force & 27 N & - & - & 21.5 N & - \\
9 & Infill & 100\% & 40\% & 20\% & 20\% & - \\
10 & Layer height & 0.2 & 0.1 & 0.2 & - & \\
11 & Price [RON] & 1300 & 117 & 930 & 930 & 465 \\
12 & Level & Wrist & Wrist & Elbow & Elbow & Elbow \\
15 & Weight & 0.586 kg & - & 0.663 kg & 0.253 kg & - \\
16 & Voltage & 6 V & \(\times\) & 6 V & 6 V & \(\times\) \\
17 & Peak current & 2 A & \(\times\) & 5 A & - & \(\times\) \\ \hline \hline \end{tabular}
\end{table} 
Table 8: Comparison study between proposed prototype and existing solutions. such motors are related to availability and costs. When considering open-source upper limb prosthetic devices, a fully described design should be presented. The specifications must include a list of parts or bill of materials and the corresponding prices for the respective components. The current design has a price breakdown that is illustrated in Tables 2-5 culminating with the total cost illustrated in Table 6 and resulted to be 260 euro. However, a performance increase can be attained if choosing more powerful motors.