Development of a prosthetic hand based on human hand anatomy

摘要

This paper describes the development of a prosthetic robotic hand based on the human hand anatomy. The phalanges used are real human scanned phalanges. The carpal bones and the arm structure are modelled by using Autodesk Inventor Professional 2019 software. The control system is developed under Arduino Mega 2560. The input signals are based on MyWare sensors and press sensors. The prosthetic hand is dotted with 5 step motors one for each finger that control the flexion/extension and one servo that control the addiction/abduction of the thumb. Actual prosthetic hand is dotted with 16 DOF. The test results demonstrate an accurate finger movements.