System for the experimental evaluation of anthropomorphic hands. Application to a new 3D-printed prosthetic hand prototype

Figures & data

Figure 1. Actuation device with the IMMA hand prototype attached to it. The different components are shown: hand prototype, tendons, sensors box, actuation rings, USB communications cable and Velcro® straps for attachment to the forearm.

Figure 2. Device actuated by a subject during a grasping task.

Figure 3. Prototype of the IMMA hand.

Figure 4. Grasping types and objects from the YCB set used in the protocol.

Figure 5. Examples of grasps performed by a subject wearing the actuation device with the IMMA hand.

Table 1. Objects from the YCB set grouped by grasp type, for which any of the subjects failed in the grasping task.

Grasp type (GT)	Subject 1	Subject 2
Pulp pinch	Plastic pear^a, small marker, washer	Plastic pear^a, small marker, washer
Extension grip	Plate	–
Spherical grip	Softball, mini soccer ball	Softball, mini soccer ball

^a The object was grasped but the GT used was considered a lateral pinch.

Figure 6. Example of excursion of the tendons during the grasp of the power drill with the IMMA hand operated by Subject 2 using the actuation device.

Table 2. Frequency of cases, among successful grasps for each subject, for which the correlation coefficient between the excursions of each pair of tendons was higher than 0.9 for (a) Subject 1 and (b) Subject 2. Darker colours correspond to higher correlations.