Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand

Highly Anthropomorphic Finger Design With a Novel Friction Clutch for Achieving Human-Like Reach-and-Grasp Movements

In the design of prosthetic hand fingers, achieving human-like movement while meeting anthropomorphic demands such as appearance, size, and lightweight is quite challenging. Human finger movement involves two distinct motion characters during natural reach-and-grasp tasks: consistency in the reaching stage and adaptability in the grasping stage. The former one enhances grasp stability and reduces control complexity; the latter one promotes the adaptability of finger to various objects. However, conventional tendon-driven prosthetic finger designs typically incorporate bulky actuation modules or complex tendon routes to reconcile the consistency and adaptability. In contrast, we propose a novel friction clutch consisting of a single tendon and slider, which is simple and compact enough to be configurated within the metacarpal bone. Through tactfully exploiting the friction force to balance the gravity effect on each phalanx during finger motion, this design effectively combines both consistency and adaptability. As a result, the prosthetic finger can maintain consistent motion unaffected by any spatial posture during reaching, execute adaptive motion during grasping, and automatically switch between them, resulting in human-like reach-and-grasp movements. Additionally, the proposed finger achieves a highly anthropomorphic design, weighing only 18.9 g and possessing the same size as an adult's middle finger. Finally, a series of experiments validate the theoretical effectiveness and motion performance of the proposed design. Remarkably, the mechanical principle of the proposed friction clutch is beneficial to achieve highly anthropomorphic design, providing not only a new strategy to prosthetic hand design but also great potential in hand rehabilitation.

"Mind the thumb": Judging hand laterality is anchored on the thumb position

People can decide whether the image of a hand represents a left or a right one. The laterality judgment mainly implies mentally imaging own hand movement (motor simulation) if the stimulus represents a palm, or analysing visual cues, as hand asymmetry, if the stimulus reproduces a dorsum. Here, by capitalizing on evidence underscoring the key role of thumb-palm complex in motor dexterity of human hand, we hypothesise that activation of motor or visual processes when judging hand laterality is due to the different relevance of palm-thumb and dorsum-thumb combinations to hand action. To test this thumb-anchored strategy, in a laterality judgment experiment, we concurrently manipulated the thumb position (flexed or extended) with respect to palm and dorsum, and the human likeness of the hand shape (influencing the salience of the thumb with respect to the hand shape). The main results demonstrated that viewing the flexed thumb from palm or dorsum elicited motor simulation, while viewing the extended thumb activated motor simulation when combined with palm but not dorsum. The present data highlight the pivotal role of the thumb in hand laterality judgments, consistent with its key role in human in-hand manipulation.

Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators

It is known that introducing a pediatric externally powered prosthetic hand from an early age has certain merits such as the recovery of body image. However, this process is not popular in Japan. The high cost and technological problems of the hand have resulted in difficulty in its popularization. The pediatric prosthetic hand must be lighter and smaller than the adult one. Furthermore, parents of users prefer a prosthetic hand, such as a human arm and hand. We developed a prosthetic hand that demonstrates certain functionalities and appearances similar to a real human hand. The prosthetic hand consists of miniature McKibben actuators and is manufactured from acrylonitrile-butadiene-styrene resin and covered by a silicon glove. It has flexible joint structures and can grasp objects of various shapes. In this paper, we present a prototype of the pediatric prosthetic hand and the results of gripping experiments, bending and extension of finger experiments, and user tests.