Table 1.
Prosthetic hands proposed in the literature and their features.
| Hand name | Achievable grasps | DoA | Sensorization | Actuation method | Weight [g] | Joint Coupling method | Grip force [N] | |||
|---|---|---|---|---|---|---|---|---|---|---|
| Force/Slippage | Position | Power | Precision | Lateral | ||||||
| SensorHand by Ottobock | Power | 1 | SUVA Sensor System** | – | DC Motor* | 350–500 | Fixed Pinch* | 100 | NA | NA |
| i-Limb by Touch Bionics | Power, Precision, Lateral, Hook, Finger-point | 5 | – | Encoders** | DC Motor—Worm Gear* | 443–515 | Tendon linking MCP to PIP* | 100–136 | - | 21–35 |
| Bebionic by RSL Steeper | Power, Precision, Lateral, hook, finger-point | 5 | – | Encoders** | DC Motor – Lead Screw* | 550–598 | Linkage spanning MCP to PIP* | 140.1 | 36.6 | 26.5 |
| Michelangelo by Ottobock | Opposition, Lateral, Neutral Mode | 2 | – | – | DC Motor—Central Drive Actuation System* | 420 | Cam design with links to all fingers* | 70 | 70 | 60 |
| IH2 Azzurra by Prensilia | Power, Precision, Lateral, Hook, Finger-point | 5 | – | 5 encoders 5 current sensors 10 limit switch Hall sensors | DC Motor—Lead Screw | 640 | Tendon driven mechanism | 35 | - | 7 |
| Utah/MIT Hand | Power, Precision, Lateral, Hook, Finger-point | 32 | Tendon tension sensor Piezo-resistive force sensors | Hall-effect joint position sensors | Pneumatic Actuators | ? | Tendon driven mechanism | Tip forces about 31 | ||
| Belgrade/USC Hand | Power, Precision, Lateral | 4 | Piezo-resistive force sensors | Potentiome-ters | DC Motors | – | Linkage driven mechanism | – | ||
| NTU Hand | Power, Precision, Lateral, Hook, Finger-point | 17 | – | Joint position sensors | DC Micromotor | 1569 | Gear Trains mechanism | – | ||
| Gifu Hand III | Power, Precision, Lateral, Hook, Finger-point | 16 | Tactile sensors (859 detecting point) | Magnetic encoders | DC Motors | 1400 | Gear Train and linkage mechanism | Thumb fingertip force: 3.7 Other fingertips force: 3.4 | ||
| Southampton Hand | Power, Precision, Lateral, Hook | 6 | FSR sensors Piezoelectric slip sensors Thermistors | Encoders | DC Motors | 400 | Worm wheels gears | Fingertips forces: 9 | ||
| UB Hand III | Power, Precision, Lateral, Hook, Finger-point | 20 | Tendon force sensors Load cells | Potentiometers | DC Motors | – | Tendon driven mechanism | Tendon force: 70 | ||