Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review

Journal of Rehabilitation Research and Development

Volumn 50, Issue 5, 2013, Pages 599-618

  Belter, Joseph T ^a   Segil, Jacob L ^b   Dollar, Aaron M ^a   Weir, Richard F ^c,d  

^a Yale University   (United States)

^b University of Colorado at Boulder   (United States)

^c VETERANS AFFAIRS MEDICAL CENTER   (United States)

^d The University of Colorado Denver   (United States)

Author keywords

Amputee; Grasping; Grippers; Hands; iLimb hand; Manipulation; Michelangelo hand; Rehabilitation; Robotics; Terminal devices

Indexed keywords

AMPUTEE; GRASPING; HANDS; ILIMB HAND; MANIPULATION; MICHELANGELO; TERMINAL DEVICES;

GRIPPERS; HUMAN REHABILITATION EQUIPMENT; PATIENT REHABILITATION; RESEARCH; ROBOTICS;

PROSTHETICS;

ARTICLE; BIOMECHANICS; GRIP STRENGTH; HAND PROSTHESIS; KINEMATICS; MYOELECTRICALLY CONTROLLED PROSTHESIS; PRIORITY JOURNAL; THUMB; WEIGHT;

ANTHROPOMETRY; ARTIFICIAL LIMBS; ELECTRICAL EQUIPMENT AND SUPPLIES; HAND; HAND STRENGTH; HUMANS; MECHANICAL PHENOMENA; PROSTHESIS DESIGN;

EID: 84882965709     PISSN: 07487711     EISSN: 19381352     Source Type: Journal    
DOI: 10.1682/JRRD.2011.10.0188     Document Type: Article

References (49)

1. Weir RF. Design of artificial arms and hands for prosthetic applications. In: Kutz M, editor. Standard handbook of bio-medical engineering and design. New York (NY): McGraw-Hill; 2003. p. 32.1-32.59.
2. Cipriani C, Controzzi M, Carrozza MC. Objectives, criteria and methods for the design of the SmartHand transradial prosthesis. Robotica. 2010;28(6):919-927. http://dx.doi.org/10.1017/S0263574709990750
3. Biagiotti L, Lotti F, Melchiorri C, Vassura G. How far is the human hand? A review on anthropomorphic robotic end-effectors. Bologna (Italy): University of Bologna; 2008.
4. Biddiss E, Beaton D, Chau T. Consumer design priorities for upper limb prosthetics. Disabil Rehabil Assist Technol. 2007;2(6):346-357. [PMID: 19263565] http://dx.doi.org/10.1080/17483100701714733
5. Van Lunteren T, Van Lunteren-Gerritsen E. In search of design specifications for arm prostheses. In: Stassen HG, Sheridan TB, Van Lunteren T, editors. Perspectives on the human controller: Essays in honor of Henk G. Stassen. Boca Raton (FL): CRC Press; 1997.
6. Atkins DJ, Heard DC, Donovan WH. Epidemiologic overview of individuals with upper-limb loss and their reported research priorities. J Prosthet Orthot. 1996;8(1).
7. Waryck B. Comparison of two myoelectric multi-articulating prosthetic hands. Proceedings of the 2011 MEC Symposium; 2011 Aug 14-19; New Brunswick, Canada.
8. System electric hand size 7 [Internet]. Duderstadt (Germany): Otto Bock; 2013. Available from: http://www.ottobock.com/cps/rde/xchg/ob_us_en/hs.xsl/6952.html
9. SensorHand speed [Internet]. Duderstadt (Germany): Otto Bock; 2013. Available from: http://www.ottobock.com/cps/rde/xchg/ob_com_en/hs.xsl/3652.html
10. VINCENT hand [Internet]. Weingarten (Germany): Vincent Systems; 2013. Available from: http://handprothese.de/vincent-hand/
11. Touch Bionics web site [Internet]. Mansfield (MA): Touch Bionics Inc; 2013. Available from: http://www.touchbionics.com/
12. RSL Steeper web site [Internet]. Leeds (United Kingdom): RSL Steeper; 2013. Available from: http://rslsteeper.com/
13. Michelangelo operation manual. Duderstadt (Germany): Otto Bock; 2012.
14. Ingram JN, Körding KP, Howard IS, Wolpert DM. The statistics of natural hand movements. Exp Brain Res. 2008; 188(2):223-36.[PMID:18369608] http://dx.doi.org/10.1007/s00221-008-1355-3
15. Maxon Motor. Motor data [Internet]. Sachseln (Switzerland): Maxon Motor; 2013. Available from: http://shop.maxonmotor.com/ishop/app
16. Chandler RF, Clauser DE, McMconville JT, Reynolds HM, Young JW. Investigation of inertial properties of the human hand. Washington (DC): U.S. Department of Transportation; 1975 Mar. Report No. DOT HS-801 430.
17. Tözeren A. Human body dynamics: Classical mechanic and human movement. New York (NY): Springer; 2000.
18. Pylatiuk C, Schulz S, Doderlein L. Results of an Internet survey of myoelectric prosthetic hand users. Prosthet Orthot Int. 2007;31(4):362-70.[PMID:18050007] http://dx.doi.org/10.1080/03093640601061265
19. Jönsson S, Caine-Winterberger K, Brånemark R. Osseoin-tegration amputation prostheses on the upper limbs: methods, prosthetics and rehabilitation. Prosthet Orthot Int. 2011;35(2):190-200.[PMID:21697201] http://dx.doi.org/10.1177/0309364611409003
20. Pons JL, Rocon E, Ceres R, Reynaerts D, Saro B, Levin S, Van Moorleghem W. The MANUS-HAND Dextrous Robotics Upper Limb Prothesis: Mechanical and manipulation aspects. Auton Robots. 2004;16:143-163. http://dx.doi.org/10.1023/B:AURO.0000016862.38337.f1
21. Kay HW, Rakic M. Specifications for electromechanical hands. Proceedings of the 4th International Symposium on the External Control of Human Extremities; 1972 Aug 28- Sep 2; Belgrade, Yugoslavia. p. 137-55.
22. Light CM, Chappell PH. Development of a lightweight and adaptable multiple-axis hand prosthesis. Med Eng Phys. 2000;22(10):679-84. [PMID:11334753] http://dx.doi.org/10.1016/S1350-4533(01)00017-0
23. Vinet R, Lozac'h Y, Beaudry N, Drouin G. Design methodology for a multifunctional hand prosthesis. J Rehabil Res Dev. 1995;32(4):316-324.[PMID:8770796]
24. Dechev N, Cleghorn WL, Naumann S. Multiple finger, passive adaptive grasp prosthetic hand. Mechanism Mach Theory. 2001;36(10):1157-73. http://dx.doi.org/10.1016/S0094-114X(01)00035-0
25. Massa B, Roccella S, Carrozza MC, Dario P. Design and development of an underactuated prosthetic hand. Proceedings of the 2002 IEEE International Conference on Robotics and Automation; 2002 May 11-15; Washington, DC. p. 3374-3379.
26. Liu H, Wu K, Meusel P, Seitz N, Hirzinger G, Jin MH, Liu YW, Fan SW, Lan T, Chen ZP. Multisensory five-fingered dexterous hand: The DLR/HIT Hand II. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and System; 2008 Sep 22-26; Nice, France. p. 3692-97.
27. DRL Institute of Robotics and Mechatronics. Datasheet of DLR Hand II [Internet]. Cologne (Germany): DLR; 2011. Available from:http://www.dlr.de/rm/en/desktopdefault.aspx/tabid-3802/6102_read-8922/
28. Lotti F, Tiezzi P, Vassura G, Biagiotti L, Palli G, Melchiorri C. Development of UB Hand 3: Early results. Proceedings of the 2005 IEEE International Conference on Robotics and Automation; 2005 Apr; Barcelona, Spain. p. 4488-93.
29. Losier Y, Clawson A, Wilson A, Scheme E, Englehard K, Kyberg P, Hudgins B. An overview of the UNB hand system. Proceeding of the 2011 Myoelectric Controls/Powered Prosthetics Symposium; 2011; New Brunswick, Canada.
30. Clawson A, Segil J, Jones B, Losier Y, Kyberg PJ, Weir R. Mechanical design of a multifunction hand prosthesis sys-tem-The UNB Hand. Proceedings of the 13th ISPO World Congress; 2010 May 10-15; Leipzig, Germany.
31. Gaiser IN, Pylatiuk C, Schulz S, Kargov A, Oberle R, Werner T. The FLUIDHAND III: A multifunctional prosthetic hand. Am Acad Orthot Prosthet. 2009;21(2):91-96.
32. Cipriani C, Controzzi M, Carrozza MC. Mechanical design of a transradial cybernetic hand. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2008 Sep 22-26; Nice, France. p. 576-81.
33. Kamikawa Y, Maeno T. Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2008 Sep 22-26; Nice, France. p. 717-22.
34. Dalley SA, Wiste TE, Withrow TJ, Goldfarb M. Design of a multifunctional anthropomorphic prosthetic hand with extrinsic actuation. IEEE/ASME Transactions on Mecha-tronics. 2009;14(6):699-706. http://dx.doi.org/10.1109/TMECH.2009.2033113
35. Kyberd PJ, Light C, Chappell PH, Nightingale JM, What-ley D, Evans M. The design of anthropomorphic prosthetic hands: A study of the Southampton Hand. Robotica. 2001; 19:595-600. http://dx.doi.org/10.1017/S0263574701003538
36. Birglen L, Laliberte T, Gosselin C. Underactuated robotic hands. Berlin (Germany): Springer; 2008.
37. Dollar AM, Howe RD. The highly adaptive SDM hand: Design and performance evaluation. Int J Robot Res. 2010; 29(5):585-97. http://dx.doi.org/10.1177/0278364909360852
38. Crowder RM, Dubey VN, Chappell PH, Whatley DR. A multi-fingered end effector for unstructured environments. Proceedings of the 1999 IEEE International Conference on Robotics and Automation; 1999 May 10-15; Detroit, Michigan. p. 3038-43.
39. Ouellette EA, McAuliffe JA, Caneiro R. Partial-hand amputations: Surgical principles. In: Bowker JH, editor. Atlas of limb prosthetics: Surgical, prosthetic, and rehabilitation principles. St. Louis (MO): Mosby Year Book; 1992.
40. Coert JH, van Dijke HG, Hovius SE, Snijders CJ, Meek MF. Quantifying thumb rotation during circumduction utilizing a video technique. J Orthop Res. 2003;21(6):1151-55.[PMID:14554232] http://dx.doi.org/10.1016/S0736-0266(03)00114-1
41. Controzzi M, Cipriani C, Carrozza MC. Miniaturized non-back-drivable mechanism for robotic applications. Mech Mach Theory. 2010;45(10):1395-1406.http://dx.doi.org/10.1016/j.mechmachtheory.2010.05.008
42. Heckathorne CW. Upper-limb prosthetics: Components for adult externally powered systems. In: Bowker JH, editor. Atlas of limb prosthetics: Surgical, prosthetic, and rehabilitation principles. St. Louis (MO): Mosby Year Book; 1992.
43. Cutkosky MR. On grasp choice, grasp models, and the design of hand for manufacturing tasks. IEEE Trans Robot Autom. 1989;5(3):269-79. http://dx.doi.org/10.1109/70.34763
44. Zheng JZ, De La Rosa S, Dollar AM. An investigation of grasp type and frequency in daily household and machine shop tasks. Proceedings of the 2011 IEEE International Conference on Robotics and Automation; 2011 May 9-13; Shanghai, China. p. 4169-75.
45. Santello M, Flanders M, Soechting JF. Postural hand synergies for tool use. J Neurosci. 1998;18(23):10105-15.[PMID:9822764]
46. Dollar AM, Howe RD. The SDM hand as a prosthetic terminal device: A feasibility study. Proceedings of the IEEE 10th International Conference on Rehabilitation Robotics; 2007 Jun 13-15; Noordwijk, the Netherlands.
47. Odhner LU, Dollar AM. Dexterous manipulation with underactuated elastic hands. Proceedings of the 2011 IEEE International Conference on Robotics and Automation; 2011 May 9-13; Shanghai, China.
48. Kargov A, Pylatiuk C, Martin J, Schulz S, Döderlein L. A comparison of the grip force distribution in natural hands and in prosthetic hands. Disabil Rehabil. 2004;26(12):705-11.[PMID:15204492] http://dx.doi.org/10.1080/09638280410001704278
49. Bergman K, Ornholmer L, Zackrisson K, Thyberg M. Functional benefit of an adaptive myoelectric prosthetic hand compared to a conventional myoelectric hand. Pros-thet Orthot Int. 1992;16(1):32-37. [PMID:1584641]