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This paper presents a multi-DOF and multisensory prosthetic hand (HIT V prosthetic hand) with five modular fingers. The hand has a total of 11 joints, which are actuated by 6 intrinsic DC motors. Each digit (2 joints, DIP and MCP, coupled) is driven separately by a motor within the proximal phalange, while the trapeziometacarpal (TM) joint of the thumb is specially devised with an additional actuation...
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