Development of an Adaptive Prosthetic Hand Inspired by biomechanics, an adaptive prosthetic hand which not only considered the function of the motion of the digits but also the palm, is presented in this paper. The human hand consists of different kinds of bones, the phalanges in the digits and the metacarpals in the palm, which cooperate to perform adaptable and dexterous motions. Many existent prosthetic hands focus mainly on the movements of the digits, ignoring the palm. The proposed hand has 15 movable joints in the fingers and the thumb, and 2 movable metacarpals in the palm. The thumb and the four fingers are able to flex independently and adaptively wrap along with the shape of the object. The palm could perform an adaptive holding to some extent through the grasping process, due to the movable metacarpals. Furthermore, the hand design is also considered the weight and size limitations for being used as a prosthesis.

A New Model to Bionic Hand Prosthesis with Individual Fingers Actuators Considering human mobility, the hand assumes great importance due to its versatility and ability to manipulate objects. However, many people do not have this limb, due to either malformation or amputation, which makes it difficult to perform daily activities. This research presents the development of the mechanical structure of a hand prosthesis where the fingers are individually actuated. For this, the mathematical model that describes the movement of the robotic finger is detailed. A kinematic study of finger movement is performed, as well as a computer simulation for the proposed mechanical structure. The model simulations showed a good effectiveness of the proposed model, and all the component parts of the prosthesis were designed in a parameterized way so that the model can be adapted to the physical dimensions of the user.