Design and Analysis of Finger Kinematics of a Prosthetic Hand

Abstract

In this paper, design, analysis and mechatronic integration focusing on finger motion of a prosthetic hand are conducted in the context of finger-linkage kinematics. Analytical studies on the modeling of the prosthetic hand are performed to examine forward kinematics and inverse kinematics of its index finger. With such model, results demonstrate that precise motion of the proposed higher degrees of freedom (DOF) prosthetic hand can be achieved and it can be used to mimic human hand's dexterous gestures.