Table 2 Anthropomorphic prosthetic hands (selected)
From: On the development of intrinsically-actuated, multisensory dexterous robotic hands
Name | Year 20~ | Fingers joints DOF | Force velocity | Motors and configuration | Transmission mechanism | Size weight | Ref. |
|---|---|---|---|---|---|---|---|
Cyber hand | 03 | 5/15/16 | 70N 45°/s | 6/DC Extrinsic | Tendon | 95 % 360 g | [38] |
Manus hand | 04 | 5/10/4 | 60N 90°/s | 3/BLDC Intrinsic | Tendon | 120 % 300 g | [39] |
IOWA hand | 04 | 5/15/5 | – | 5/DC Intrinsic | Tendon | 100 % 90 g | [40] |
Fluid hand | 04 | 5/8/8 | 110N 57°/s | 1 Gear pump Intrinsic | 8/Fluid actuator | 100 % 350 g | [41] |
Tokyo hand | 05 | 5/15/12 | 0.4 Nm 200°/s | 7/SM Extrinsic | Tendon | – 584 g | [42] |
UB III | 05 | 5/15/16 | 70N 250°/s | 16/DC Extrinsic | Tendon | 120 % – | [15] |
SMA hand | 08 | 5/15/7 | – 41°/s | 7/SMA Extrinsic | Tendon | 50 % 250 g | [43] |
Dong-Eui hand | 08 | 5/15/6 | 14N – | 6/DC Intrinsic | Tendon | – 400 g | [44] |
Vanderbilt hand | 09 | 5/16/17 | – | 5/GA Extrinsic | Tendon | – 580 g | [45] |
Intrinsic hand | 09 | 5/15/19 | 4.7 Nm 360°/s | 15/BLDC Intrinsic | Motor | – | [46] |
xtrinsic hand | 09 | 5/11/21 | – 360°/s | 1/Cobot Extrinsic | Tendon | – | [47] |
EA hand | 09 | 5/16/5 | 80N 225°/s | 5/DC Extrinsic | Tendon | 100 % 580 g | [48] |