Mechanical aspects of robot hands, active hand orthoses and prostheses

A comparative review

Journal article (2020)

Authors

J. Vertongen Student
Derek Kamper North Carolina State University, University of North Carolina at Chapel Hill
G. Smit Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
H. Vallery Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Research Group
Medical Instruments & Bio-Inspired Technology (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2020 J. Vertongen, Derek G. Kamper, G. Smit, H. Vallery
DOI: https://doi.org/10.1109/TMECH.2020.3014182
Robotics Robotics Prosthetics Dexterity Orthotics Prosthetics Orthotics Hands Dexterity Gands
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Published Date

2020

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Medical Instruments & Bio-Inspired Technology

Abstract

The large interest in robot hands and active hand prostheses has in recent years been joined by that in active hand orthoses. Despite the differences in intended uses, these three categories of artificial hand devices share key characteristics. Examination of the commonalities could stimulate future design. Thus, in this article, we undertook a comparative review of publications describing robot hands, active prostheses, and active orthoses, with a focus on mechanical structure, actuation principle, and transmission. Out of a total of 510 papers identified through the literature search, 72 publications were included in a focused examination. We identified trends in the design of artificial hands and gaps in the literature. After comparing their mechanical aspects, we propose recommendations for future development.