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IJMERR 2022 Vol.11(7): 466-478
DOI: 10.18178/ijmerr.11.7.466-478

Design and Kinematic Analysis of a Multi-Grip Hand– Touch Hand 4

Kiran Setty 1, Theo Van Niekerk 1, Riaan Stopforth 2, Karina Sewsunker 2, and Anton du Plessis 3
1. Nelson Mandela University, Port Elizabeth, South Africa
2. Stopforth Mechatronics, Robotics and Research Lab, University of KwaZulu-Natal, Durban, South Africa
3. Stellenbosch University, Stellenbosch, South Africa

Abstract—This paper reports on the kinematic design of the Touch Hand 4, which has been a continuous optimization of the first three iterations. The Touch Hand 4 is a low-cost myoelectric prosthetic terminal hand device designed to be used by transradial amputees. The paper investigates the mechanical design of the prosthetic hand and investigates the kinematics and static force analysis of the digits on the hands. Illustrative diagrams describe the kinematics and static force analysis. The analysis results are displayed and used to compare the different digits designed on the prosthetic hand. The final product is then tested and compared with other prosthetic hands. The Touch Hand 4 had shown in tests to perform significantly slower than other prosthetic hands but had similar grip strength to some prosthetic hands.

Index Terms—prosthetic hand, multi-grip, 3D printed, touch hand

Cite: Kiran Setty, Theo Van Niekerk, Riaan Stopforth, Karina Sewsunker, and Anton du Plessis, "Design and Kinematic Analysis of a Multi-Grip Hand– Touch Hand 4," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 7, pp. 466-478, July 2022. DOI: 10.18178/ijmerr.11.7.466-478

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.