Lay summary
The aim of the project is to develop a prosthetic hand which can perform the basic functions of a human natural hand. An integrated design approach between mechanics and electronic control applied to an under-actuated anthropomorphic artificial hand for prosthetic applications will be presented. The creation of such a device will help those suffering from physical disability and open pathways to accessible solutions to functionality for amputees, physically limited and mentally limited patients. Principal methodologies include comparison and analysis of kinematics, inverse kinematics, trajectory planning, electronic control, multiple actuation modes, multiple mechanical designs and geometry with current prosthetic devices. A full analysis will be given and a device will be produced at a fraction of the cost of current marketable prosthetic devices. This research will provide amputees and disabled people the opportunity to have hand function restored. The amount of confidence and self-reliance that can potentially be restored is immeasurable.