Lightweight 10-DOF Robotic Hand With Built-In Wire-Driven 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 10-DOF hand that can form the seven finger postures that are required for daily life activities. To achieve this objective, we propose a wire-driven 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.