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This paper proposes a lightweight prosthetic hand with five fingers that are driven by contraction force of shape memory alloy (SMA). Each finger is composed of SMA-wire mechanism similar to the muscle-tendon structure of human. Finger flexion is performed by contraction force of SMA, but its extension is carried out by a restoring force of a spring mounted on the backside of finger. The developed...
This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The...
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