Gripping Tests on an Underactuated Self-adapting Hand Prototype

摘要

Tests on a prototype of an underactuated hand prosthesis, based on differential mechanisms, are described. The main aim was to examine the possibility of achieving a hand prosthesis economic, kinematically simple and easy to control; moreover inelastic tendon are used that allow the adjustment of the gripping force of an object just acting on the pulling force by the only actuator. In the paper the design of the prototype is briefly described and some results of experiments to test the hand suitability and capabilities, are shown.