四电机轻量假手实现精准与侧向抓握的自主切换

Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and have motors inside to protect them from damage and dirt. In addition to the ability to perform daily activities, these features are essential for everyday use of the hand. In-hand manipulation is necessary to perform daily activities such as transitioning between different postures, particularly through rotational movements, such as reorienting cards before slot insertion and operating tools such as screwdrivers. However, currently used electric prosthetic hands only achieve static grasp postures, and existing manipulation approaches require either many motors, which makes the prosthesis heavy for daily use in the hand, or complex mechanisms that demand a large internal space and force external motor placement, complicating attachment and exposing the components to damage. Alternatively, we combine a single-axis thumb and optimized thumb positioning to achieve basic posture and in-hand manipulation, that is, the reorientation between precision and lateral grasps, using only four motors in a lightweight (311 g) prosthetic hand. Experimental validation using primitive objects of various widths (5-30 mm) and shapes (cylinders and prisms) resulted in success rates of 90-100% for reorientation tasks. The hand performed seal stamping and USB device insertion, as well as rotation to operate a screwdriver.