Design and Testing of a Self-Adaptive Prosthetic Finger with a Compliant Driving Mechanism

Abstract

In this paper, a novel underactuated prosthetic¯nger with a compliant driving mechanism is proposed. The underactuated¯nger is based on linkage mechanism and spring elements within the compliant driving mechanism. The proposed¯nger mechanism is able to obtain human-like operations. The feasibility of the mechanism is veri¯ed through suitable kinematic and static analysis. The structure parameters and the coe±cient of the springs are calculated according to the requirements of human-like operations. Finally, we experimentally validate the reasonability of design results and demonstrate that the¯nger grasps objects in diverse ways.