Table 3 Specifications of the HIT-DLR anthropomorphic prosthetic hands
From: On the development of intrinsically-actuated, multisensory dexterous robotic hands
Picture | Name | Year | Fingers/ joints/ motors | actuation- transmission | Sensors | mass size | Force velocity |
|---|---|---|---|---|---|---|---|
| HITAPH I | 2003 | 5/14/3 | Underactuated linkage + Belt 1-1-2 | Position, torque | 500 g 130 % | 10N – |
| HITAPH II | 2005 | 5/14/3 | Underactuated linkage + Belt 1-1-3 | Position, torque | 500 g 110 % | 10N – |
| HITAPH III | 2007 | 5/15/3 | Underactuated linkage 1-1-3 | Position, torque | 500 g 120 % | 10N 72°/s |
| HITAPH hand IV | 2009 | 5/15/5 | Coupling linkage 1-1-1-1-1 | Position, torque | 450 g 85 % | 10N 89°/s |
| HITAPH hand IV | 2013 | 5/11/6 | Tendon + Worm 2-1-1-1-1 | Position, torque, 3D-tactile | 475 g 80 % | 12N 45°/s |
