UT hand I: A lock-based underactuated hand prosthesis

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18 Citations (Scopus)
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In this paper, a new prototype underactuated hand prosthesis is presented. Its design is based on a robotic finger concept featuring tendon-pulley underactuation, joint coupling, and a series of joint locking mechanisms. The joint locks serve to actively control the degrees of freedom of the four fingers, allowing a single actuator to perform a variety of grasping motions. The thumb is separately actuated by a combination of opposition and flexion motors. Rubber fingertips add compliance to the grasp, and can be equipped with an integrated tactile sensor array. The prototype's kinematics are evaluated, and its functionality is demonstrated by performing a series of grasps. The results show that the UT Hand I provides the advantages of minimal actuation, without reducing its functionality.
Original languageEnglish
Pages (from-to)307-323
Number of pages17
JournalMechanism and machine theory
Publication statusPublished - 13 May 2014


  • Underactuation
  • Hand prosthesis
  • Grasping
  • Joint locking


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