Improvements and optimization for a functional low-cost prosthetic hand

The following study investigates the work of the Touch Hand 4, which involves the development of a lowcost myoelectric prosthetic terminal hand device for transradial amputees. The Touch Hand 4 is an iteration of the Touch Hand project which attempts to make a functional, low-cost prosthetic hand which is capable of being accessible to more people relative to conventional myoelectric prosthetic hands as well as being used as a robotic UAV gripper. This research is motivated due to the lack of affordable myoelectric prosthetic hands in the global market. It is believed, with the current technology, it is capable of developing a prosthetic hand which can meet these needs. Research was performed through reviewing other prosthetic hands to understand the requirements for a prosthetic hand as well as understanding the market of prosthetic hands. Prosthetists were interviewed to obtain a perspective from medial professionals regarding the requirements for a prosthetic hand. Hand kinesiology was performed to understand the biomechanics of the human hand, which was emulated in the design of the Touch Hand 4. The mechanical design begun with developing and testing a concept design, which was used to design the general shape of the Touch Hand 4. SLS was chosen to print the prosthetic hand with. After performing a kinematics and static force simulation, the mechanical system was designed accordingly. Further research on EMG sensors was then performed to understand the requirements of using EMG signals to control a prosthetic hand. The electronics and control system were then designed according to the requirements of the prosthetic hand. Tests were performed, however, tests performed with an amputee using the device was affected to improper placement of the EMG sensors, leading to poor results. Tests performed without an amputee, however, showed that the prosthetic hand is capable of gripping various objects of different shapes and sizes. An investigation was also performed on the contributions the Touch Hand 4 could make as a UAV gripper, which showed that the Touch Hand 4 is more adaptable and versatile than any other UAV gripper available on the market