Table 3.
Comparison between “Federica” hand and other externally powered hand prostheses (prototypes and commercial devices [34]—highlighted in grey background).
| Developer/Manufacturer | Weight | Size (Height) | Grasp Speed | Grip Force | DOF | Kind/Number of Actuators | Power—Intermediate-Precision (Grasp) | Adaptive Grip | Price | Other Characteristics | |
|---|---|---|---|---|---|---|---|---|---|---|---|
| Federica Hand | University of Naples “Federico II”, Italy | ≈200 g | 24 cm | ≈0.5 s | ≈9 N | 15 | 1 servo | yes—no—no | yes | 100 $ | - tendon-based actuation - vibrotactile feedback |
| SmartHand [39] | ARTS Laboratory, Pontedera, Italy | 520 g | - | ≈2 s | ≈36 N | 16 | 4 brushed DC motors | yes—yes—yes | yes | - | tendon/spring based actuation |
| Remedi Hand [40] | University of Southampton, UK | 400 | human hand-sized | 0.84 s | ≈38 N | 6 | 6 DC motors | yes—yes—yes | no | - | bar-linkage mechanism |
| UB Hand IV [41] | University of Bologna, Italy | - | human hand-sized | - | - | 20 | 24 twisted-string actuators | yes—yes—yes | yes | - | tendon-based actuation |
| TBM Hand [42] | University of Toronto, CDN | 280 | 14.6 cm | ≈5 s | - | 6 | 1 DC motor | yes—no—no | yes | - | compliant springs |
| MANUS hand [43] | Spain/Belgium/Israel | 1200 g | - | - | - | 3 | 2 brushless DC motors | yes—no—yes | no | - | crossed-tendons transmission |
| Vanderbilt Hand [44] | Vanderbilt University, Tennessee, US | 580 g | 19 cm | ≈200 °/s | ≈ 80 N | 16 | 5 brushed DC servomotors | yes—no—yes | yes | - | tendon-based actuation |
| The SPRING hand [18] | ARTS Laboratory, Pontedera, Italy | - | - | - | <9 N | 8 | 1 DC motor | yes—no—no | yes | - | - tendon-based actuation - 3 fingers prosthesis |
| TUAT/Karlsruhe Humanoid Hand [22] | College of Industrial Technology, Tokyo, Japan | - | 17.5 cm | - | - | 24 | 1 main servo + 6 sub-servos | yes—no—yes | yes | - | 1 sub-servo for each finger and 2 for thumb |
| The KIT prosthetic hand [23] | Institute of Technology, Karlsruhe, Germany | - | - | 1.3 s | ≈24 N | 10 | 2 DC motors | yes—no—no | yes | 1000 € | video camera in the palm |
| ROBIOSS hand [25] | PPRIME, Poitiers University, France | - | - | 70 °/s | - | 16 | 16 DC motors | yes—no—yes | yes | - | - tendon-based actuation - 4 fingers prosthesis |
| Michelangelo | Ottobock | 420 g | human hand-sized | 0.35 s | 70 N | 2 | 2 | yes—yes—no | no | 60,000 $ | cam design |
| Sensor Hand | Ottobock | 500 g | - | 300 mm/s | 100 N | 1 | 1 DC motor | yes—no—no | no | - | fixed pinch |
| Vincent Hand | Vincent Systems | - | - | - | - | 6 | 6 DC motors-worm gear | yes—no—yes | yes | - | bar-linkage mechanism |
| iLimb Pulse | Touch Bionics | 460 g | 18.2 cm | 1.2 s | 136 N | 6 | 5 DC motors-worm gear | yes—no—yes | yes | - | tendon-based actuation |
| Bebionic v2 | RSL Steeper | 540 g | 20 cm | 0.9 s | 75 | 6 | 5 DC motors—lead screw | yes—no—yes | yes | - | bar-linkage mechanism |