The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping

  title={The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping},
  author={Maria Chiara Carrozza and C. Suppo and Fabrizio Sebastiani and Bruno Massa and Fabrizio Vecchi and Roberto Lazzarini and Mark R. Cutkosky and Paolo Dario},
  journal={Auton. Robots},
Commercially available prosthetic hands are simple grippers with one or two degrees of freedom; these pinch type devices have two rigid fingers in opposition to a rigid thumb. This paper focuses on an innovative approach for the design of a myoelectric prosthetic hand. The new prosthesis features underactuated mechanisms in order to achieve a natural grasping behavior and a good distribution of pinching forces. In this paper it is shown that underactuation allows reproducing most of the… CONTINUE READING
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