Design and Kinematic Analysis of a Multi-Grip Hand– Touch Hand 4

This paper reports on the kinematic design of the Touch Hand 4, which has been a continuous optimization of the first three iterations. The Touch Hand 4 is a low-cost myoelectric prosthetic terminal hand device designed to be used by transradial amputees. The paper investigates the mechanical design of the prosthetic hand and investigates the kinematics and static force analysis of the digits on the hands. Illustrative diagrams describe the kinematics and static force analysis. The analysis results are displayed and used to compare the different digits designed on the prosthetic hand. The final product is then tested and compared with other prosthetic hands. The Touch Hand 4 had shown in tests to perform significantly slower than other prosthetic hands but had similar grip strength to some prosthetic hands.