On the development of a novel adaptive prosthetic hand with compliant joints: Experimental platform and EMG control

In this paper some recent results about the experimental trials we are performing on a functional prosthetic hand characterized by an EMG-control and by a simple and low cost fabrication technology are shown. The innovation described in this paper is the fabrication of a compliant under-actuated prosthetic hand: the structure of the hand (both palm and fingers) is moulded as a soft polymeric single part with compliant joints and embedded tendon driven under-actuated mechanism for providing adaptive grasp. The prosthetic hand has been designed following a biomechatronic approach based on biologically-inspired design solutions: we describe the second release of this prosthesis. The evaluating tests are related to the maximum force exerted during grasping and to the fatigue problems occurring with cables and joint.