A Lightweight and Versatile Prosthetic Hand for Daily Grasping

To meet daily grasping needs under lightweight, low-complexity wearable constraints, this study proposes an underactuated multi-finger prosthetic hand with transmission–control co-design to achieve predictable multi-joint synergies and stable grasps under limited actuation. The prototype uses six miniature motors to drive 14 joint degrees of freedom (DOFs): four fingers have active metacarpophalangeal actuation with tendon-driven underactuated proximal and distal interphalangeal joints, while the thumb provides two independently controlled DOFs for opposition expansion and posture adjustment. It supports five-finger power grasps, tripod pinches, and lateral pinches. To mitigate tendon slack and stroke inconsistency, active/passive tendon-length constraints are defined, and an equal-stroke configuration is obtained via chord-to-arc mapping. A layered STM32F767-based controller combines a reference rotation range limit (free motion) with encoder speed-decay detection (contact/near-stall) to realize per-finger termination and overdrive protection without force/tactile sensors. Experiments report a total mass of 176.6 g and a peak single-finger driving force of approximately 2.8 N. Following the Feix GRASP taxonomy (33 types), the hand reproduces 24 types (72.7%), covering power, intermediate and precision grasps, both thumb abduction/adduction postures, and palm–pad–side opposition/contact, with stable grasp formation across objects of varying geometries.