Lightweight 10DOF Robotic Hand With BuiltIn WireDriven Mechanism The purpose of EMG prosthetic hands is to compensate for the lost functions of hand amputees. To restore the ability to perform activities in daily life, prosthetic hands need to have as many a degrees of freedom (DOFs) as possible. Furthermore, this requirement must be realized while retaining grasping stability and keeping the hand light in weight and small in size. In this study, our aim is to develop a 10DOF hand that can form the seven finger postures that are required for daily life activities. To achieve this objective, we propose a wiredriven mechanism built over a finger skeleton and implemented it on a hand. We confirm that the developed hand can achieve all of the goal actions. In addition, our developed hand was evaluated using two indices, rate of controllability and rate of weight, as defined in this research.

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.