Design and control of tendon driven robotic hand for prosthesis applications

Abstract

The paper reports the development of an underactuated tendon driven prosthetic hand. The cost of commercially available prosthetic hands is prohibitive for developing countries. There is need for indigenous low cost design and manufacturing. The computer model of the hand is prepared in SolidWorks™ and manufactured using 3D printing technology in ABS plastic material. Five servo motors are used to actuate the hand and the hand is controlled using a MATLAB® interface. The MATLAB interface shows the hand movements in simulation and the same motion is imparted to the robotic hand by actuating the motors.