Mechanical Aspects of Robot Hands, Active Hand Orthoses and Prostheses: a Comparative Review

J. Vertongen, Derek G. Kamper, G. Smit, H. Vallery

Research output: Contribution to journalArticleScientificpeer-review

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Abstract

The large interest in robot hands and active hand prostheses has in recent years been joined by that in active hand orthoses. Despite the differences in intended uses, these three categories of artificial hand devices share key characteristics. Examination of the commonalities could stimulate future design. Thus, we undertook a comparative review of publications describing robot hands, active prostheses, and active orthoses, with a focus on mechanical structure, actuation principle, and transmission. Out of a total of 510 papers identified through the literature search, 72 publications were included in a focused examination. We identified trends in the design of artificial hands and gaps in the literature. After comparing their mechanical aspects, we propose recommendations for future development.
Original languageEnglish
Number of pages11
JournalIEEE - ASME Transactions on Mechatronics
DOIs
Publication statusE-pub ahead of print - 4 Aug 2020

Keywords

  • Hands
  • robotics
  • prosthetics
  • orthotics
  • dexterity

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