Table 1.
Characteristics of the examined prosthetic hands.
| Company name Prosthesis model | Touch Bionics i-limb Quantum | Otto Bock Michelangelo with Axon Bus Technology | Steeper Bebionic v3 | Vincent GmbH Evolution 2 | |
|---|---|---|---|---|---|
| General technical data | Weight (without battery) | 474–515 g | ~510 g | 550–598 g (365–390 g small hand) | 380–410g |
| Operating voltage | 7.4 V | 11.1 V | 7.4 V | 6–8 V | |
| Battery type | Lithium polymer | Li-Ion | Li-Ion | Li-Pol | |
| Battery capacity | 1300–2400 mAh | 1500 mAh | 1300–2200 mAh | 1300–2600 mAh | |
| Number of actuators | 6 | 2 | 5 | 6 | |
| Dexterity | Active fingers | 5 independent | 3 | 5 independent | 5 (+12 active joints) |
| Thumb rotation | Powered | Powered | Manual | Powered | |
| Total number of grip patterns | 24 | 7 | 14 | 20 | |
| Grip patterns available at any moment | 7 | 7 | 11 | 20 | |
| Flexible wrist | Available | Included | Available | Available | |
| Rotating wrist | Available | Available | Available | Available | |
| Rotating wrist | (active or passive) | (active or passive) | (active or passive) | (only passive) | |
| Full closing time | 0.8 s (0.7 s small hand) | 0.37 s | 0.5–1 s | 0.8 s | |
| Finger position encoders | No | 2 motor position encoders | 5 (one in each actuator) | 2 (in thumb actuators) | |
| Force | Power grip | 100–136 N | ~70 N | 140.1 N (280 N small hand) | 60 N |
| Lateral pinch | 40 N (60 N small hand) | ~60 N | 26.5 N (53 N small hand) | 15 N | |
| Adaptive Grip | Yes | Yes | Yes | Yes | |
| Falling object prevention | Active (auto-grasp, based on accidental sEMG signal detection) | No | Active (auto-grip, based on finger position encoders) | Passive(spring load) | |
| Proportional control | Yes | Yes | Yes | Yes | |
| N° of electrodes | 1–2 | 1–2–3 | 1–2 | 1–2 wired | |
| Control | Movement control type | Movement triggers, mobile app, bluetooth grip chips, favorite environment, gesture control | Sequential, 4-channel control | Sequential, Morph RFId GRIP selection compatible | Single trigger or Vincent Morse code |
| Movement command | Hold open, double impulse, triple impulse, co-contraction | Different switching modes available, fast and high signal controls rotation in 4-channel control | Co-contraction/open-open signal | Hold signal (opening or closing), double signal, co-contraction, alternating signal | |
| Particular features | Various control methods thumb rotating manually and automatically | Sensor hand speed (stiff and harder finger tips); Fragile objects grasping | Fully free flexing fingers | Very low weight | |
| Feedback | No | No | Audible beeps and/or vibration (grip changes) | Vibration (force detected via motor current and DMS sensors) |