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Multi-segmented finger design of an experimental prosthetic hand

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 Proceedings of the Sixth National Applied Mechanisms & Robotics Conference December 1999

Multi-Segmented Finger Design of an Experimental Prosthetic Hand

N. Dechev1, W.L. Cleghorn1, and S. Naumann2,3

1 Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, Ontario, Canada, M5S 3G8
2 Rehabilitation Engineering Department, Bloorview MacMillan Centre, Toronto, Ontario, Canada, M4G 1R8
3 Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, Ontario, Canada, M5S 1A4
email: [email protected]

Abstract: powered anthropometric hands, such as the Otto Bock

The design of a three segment finger that can curl Hands [1] or the VASI Hands [2], are among the
during flexion is presented. It has been applied in an most advanced designs. They require minimal effort
experimental, multi-fingered, child sized prosthetic to use, as they are powered by batteries, and are
hand. Conventional prosthetic hands use rigid controlled by myo-electric sensors that detect muscle
members for fingers, which cannot curl around contraction signals in the remnant limb of the user.
objects, and have an artificial appearance. A review These electric prostheses have four fingers and a
of four other multi-segment finger designs is done. thumb, and are covered by a PVC glove to give the
Design considerations focused on prosthesis appearance of a natural hand. Kinematically, they are
requirements such as small size, low weight, high very simple devices, with two rigid fingers acting in
strength and good cosmetic appearance. The opposition to a rigid thumb to produce a pinch, as
kinematics of the finger were modelled with Working illustrated in Figure 1. The remaining fingers are
Model software, and the structure of the finger non-functional and serve only for cosmetic
segments were modelled with IDEAS finite element appearance.
analysis software, to ensure strength. In addition, the
finger design presented could be used with two
degrees of freedom, one to control flexion and
extension, and the other to control the radius of the
finger curl. The three segments of this finger design
cannot flex independently of one another, and as a
result, each finger can only approximately conform to
the shape of an object it touches. The advantages of
this finger design, in combination with an adaptive
grasp system (allowing different fingers to flex
independently of one another), is that multiple contact
points can be created between the fingers involved in
grasping, and the object they grasp. This allows
irregularly shaped objects to be grasped more
securely, and gives the resulting grasp a very natural
appearance.
Figure 1. Conventional VASI 7-11 Hands[2]
Introduction: Due to their simple design, conventional
There are a number of different conventional, prostheses have a number of limitations. They have
commercially available prosthetic hands such as limited mechanical function since they are restricted
passive (non-functional) wooden hands, cable to a single degree of freedom, open and close action.
powered split hooks, and electric powered Cylindrical objects can be grasped well, if their
anthropometric (geometrically similar to the human
form) hands. Of these varieties, the electrically

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diameter is approximately the same as the inner increases significantly over that of other similar
curvature of the finger and thumb. However, most hands. Also, the use of multiple motors to drive the
objects are irregularly shaped, and are grasped with fingers increases weight, space and power
only a two or three point contact. In order to hold requirements. This hand employs multi-segmented
objects securely, the hands require a high pinch force curling fingers which are restricted to a single degree
to due to the limited pinch contact area. Another of freedom as they curl.
limitation of this design, is that the user of the
prosthesis must carefully pre-orient the hand with an The Belgrade Hand [9-10] is an anthropometric
object to be grasped, in order to ensure that the robot hand. It has been designed for robotic
object will be held securely by the prosthesis. This applications, and as such is not suitable for a
pre-orientation is done by compensatory body prosthesis, however it possesses some interesting
motions of the the user’s elbow, shoulders, and torso, features. Like the Southampton Hand, it also
in order to make up for the lack in degrees of freedom employs single degree of freedom, multi-segmented
of the prosthesis. These compensatory body motions fingers. The rationale for single degree of freedom
are awkward, can become tiresome after many fingers is reduced complexity and reduced
repetitions, and make the users look unnatural as they computation requirements, in contrast to designs
grasp objects. In terms of cosmetic appearance, there where each finger segment (phalanx) is actively
has been some criticism [3] from the users of these controlled. The adaptive grasp of this design is
hands. Typical complaints are that the hands are ‘too achieved by the combination of a passive mechanical
boxy’ or that they look unnatural during a grasp, both solution, and the use of multiple motors.
after the grasp is achieved, and during the grasping
motion. One of the more sophisticated anthropometric
robot hands, is the MIT/Utah Hand [11-12]. This
A number of anthropometric experimental hands four fingered robot hand has 16 independently
have been developed in the last fifteen years, that controllable degrees of freedom. The complexity of
have attempted to overcome limitations of the the hand is high, and the system of actuators used to
conventional single degree of freedom prostheses. drive the hand, make it unsuitable for use as a
These experimental designs feature multi-segment prosthesis. Each phalanx of each finger is controlled
fingers that can curl as they flex (The word flex, is by an antagonistic pair of tendons. Further, each
the terminology used to describe the closing action of phalanx is equipped with a sensor to detect contact
a finger, hand or limb). The fingers are also able to with an object. The resulting design is able to
flex inwards independently of each other to better achieve a great variety of configurations and is
conform around an object, which is termed as capable of computer controlled adaptive grasp.
adaptive grasp. All designs also employ a thumb that However, the control system is computationally
is capable of rotating about the palm axis. intensive and complex.

The Montreal Hand [4-6] is an experimental, Design of the Prototype Hand:

adult sized prosthesis featuring multi-segmented A prototype prosthetic hand was designed in an
curling fingers and adaptive grasp. The adaptive attempt to increase mechanical function and cosmetic
grasp of this hand is passive in that the fingers appearance over that of conventional prostheses, by
automatically conform around the object being implementing various suggestions from rehabilitation
grasped, without the use of sensors. The mechanism professionals [3], and examining the experimental
used to achieve adaptive grasp is based on a clutch, hands listed. In addition, a survey on individuals
spring loaded pulley and cable system. During trials with upper limb loss, to quantify and rate preferences
of the Montreal Hand, it was found that there were for improvements to conventional prosthesis [13],
reliability problems[3], due to the cable design. was used.

The Southampton Hand [7-8] is an experimental A combination of three features give the
prosthesis that is also capable of five fingered prototype hand the ability of passive adaptive grasp.
adaptive grasp. However, it has been achieved by the Firstly, the fingers are able to curl while they flex.
use of four motors, sensors and computer control for Secondly, the fingers are able to flex independently
finger coordination. With the addition of computer of each other during closing, due to a parallel spring
control and sensors, the complexity of the hand mechanism within the palm. Finally, the thumb is

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able to adduct and abduct (rotational motion) as well and distal phalanges respectively, within a natural
as flex and extend. finger. Links 4, 5 and 6 are connecting links that
drive the motion of the first three links. All four
A passive adaptive grasp system refers to the fingers are exactly the same, which allows for a
fact that all five fingers conform around the contours savings on manufacturing costs and easy
of the object they grasp, without any active control. serviceability due to interchangeable parts.
There are no sensors, or computers within this design
to actively co-ordinate finger motion. Instead, the The assembled finger is shown in Figure 2(b).
adaptive mechanism relies on the physical contact It is connected to the palm knuckle via a revolute
force of the fingers with an object, to adjust the joint on the top right end of link 1. The finger is
positions of the fingers relative to each other. This actuated by driving link 6 left for extension and right
allows for a simple design that can fit within a small for flexion, via a pin which passes through the hole
space and is low in weight. The adaptive mechanism located on its right end. The pin travels in a slot, as
is based on a parallel spring mechanism within the illustrated in Figure 3, which constrains the pin
palm of the hand, and is described in detail in [14- motion to the x-axis. This finger has a single degree
15]. of freedom, allowing it to move through a specific
path in space. The finger tip trajectory is illustrated
FINGER DESIGN by the dashed line.
A number of requirements dictate the finger
design. Firstly, the fingers are to appear as natural as
possible, when still or when in motion. They must be
sized like that of a child in the 7 to 11 year range,
both in length and cross section. They are to be as
lightweight as possible, yet be strong enough to
withstand the operating conditions. Finally, the
finger design must be able to transmit a certain force
for pinch.

RIGID LINK FINGER

A three segment finger design was chosen since
this would look most like a human finger. The Figure 3. Single Degree of Freedom Finger Motion
natural finger has three segments, known as
phalanges. To approximate the finger, a rigid The trajectory shown has been designed to
linkage system was developed, as illustrated in closely approximate the flexion path of a natural
Figure 2. finger during typical grasping. The trajectory of
natural fingers will vary depending on the size of an
object and the task [16], so it would not be possible
to mimic all of these trajectories with a single degree
of freedom finger.

After many iterations, and with the aid of

Working Model 2D software [17], satisfactory
kinematics and dynamics of the finger were achieved.
The software helped to create a good finger tip
trajectory, to minimise finger link dimensions, and to
maximise the mechanical efficiency of the finger.
This was not an easy task due to the number of
Figure 2. Diagram of Finger Links and Assembly variables, and the interrelations between the three
parameters. For example, a compromise had to be
Each finger on the prototype hand is comprised reached between finger thickness (measured from the
of six links, as shown in Figure 2(a). Links 1, 2 and topside of a finger to the bottom side) and finger
3 correspond to the proximal, medial

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mechanical efficiency (defined as the input force at continue to flex inward and wrap around the object.
link 6 of Figure 3, over the tip pinch force at link 3). This is referred to as ‘finger wrap’ and is not possible
The thicker the finger could be made, the better the with a single degree of freedom finger. The
mechanical efficiency. However, the thicker the Southampton Hand and the Belgrade Hand described
finger became, the less useful it was for grasping previously, also have this finger limitation.
tasks and the less cosmetic it was. Priority was
placed on finger thickness over mechanical
efficiency, for cosmetic and functional reasons.
Another compromise had to be made between the
finger tip trajectory and the finger link sizes. Since
trajectory was deemed most important, the medial
phalanx (link 2) of the finger was actually made
shorter than anthropometrically normal. However,
this shortening of the medial phalanx helped
mechanical efficiency slightly. Hundreds of
iterations were performed, leading to the final result.

The analysis with Working Model 2D software

determined the link lengths required for the finger
and also revealed the amplitude and direction of the
forces that each link would be subjected to during
grasping. In order to test whether the individual link
designs could withstand these forces, a finite element Figure 4. Limits of Single D.O.F. Fingers
software package called Ideas 5.1 [18] was used to
simulate the stresses within the finger links. The CABLE FINGER DESIGN
amplitudes and directions of the forces found during Since the finger wrap limitation, when using rigid
Working Model 2D simulations were reprogrammed links, was well known during the start of the
into the Ideas 5.1 finite element link models. prototype hand design, a finger wrap design using a
Simulation results showed that often, the most cable was initially attempted. The idea was to keep
stressed area of the models was in the material around the finger actuation limited to a single degree of
the pin joints. Ideas 5.1 was useful in determining the freedom, yet to add compliant finger wrap by making
thickness of the links to minimise their weight and use of the flexible properties of a cable. Figure 5
size, yet to keep them adequately strong. Generally, illustrates the cable finger design.
the links were designed such that the principal
stresses and the shear stresses experienced, were 5
times lower than the ultimate tensile strength of the
material.

LIMITATIONS OF RIGID LINK FINGERS

The single degree of freedom finger design
needs one input to completely define the shape and
trajectory of the finger, as illustrated in Figure 3.
However, there is a grasping limitation when using
this type of finger. When any of the phalanges of the
finger encounter an object, finger flexion comes to a
stop. For example, if the prototype hand grasps an Figure 5. Cable Finger Design
object irregularly in such a way that the proximal
phalanx of a finger makes contact first, that finger’s The cable finger uses three links, one representing
motion will stop. The medial and distal phalanges of each phalanx, and makes use of a flexible cable. The
that finger will be stopped in space, as shown in cable is shown as a dotted grey line and runs through
Figure 4. This type of grasp looks unnatural. If the metal tubes rigidly fixed onto the palm, the proximal
proximal phalanx of a natural hand made contact with
the object first, the medial and distal phalanges would

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phalanx link and the medial phalanx link. It is

attached at a point on the distal phalanx link. To
operate the finger, the cable is drawn back via an
actuator, through the tube rigidly linked to the palm,
causing the finger to flex closed. When grasping a
large object in a power grip, this design works
reasonably well.

However, there are some major problems with

this design. The first is that this finger design is not
appropriate for precision grasps involving finger tip
and thumb tip contact (bi-digital pinch), because the
finger becomes unstable. Working Model 2D
simulations of the bi-digital pinch confirmed the
Figure 7. Cable Finger Tip Trajectory
instability. Upon formation of the bi-digital pinch,
the medial interphalangeal joint would buckle
Observe that the cable is attached to the distal
inward, as shown in Figure 6, and cause the pinch to
phalanx, but only slides through the medial and
collapse. In the process of this collapse, the object
proximal phalanges via the tubes. When tension is
within the grasp would be ejected outwards.
applied to the cable, a torque is developed around
joint A and the distal phalanx rotates, however, the
cable does not transmit any force to the medial or
proximal phalanges. Only when the distal phalanx
fully flexes, can the cable create a torque around joint
B, and later still around joint C.

Finally, a minor disadvantage is that the cable

design needs springs to return the fingers to the open
position when the cable tension is relieved.
Therefore, the cable finger design was abandoned
due to its disadvantages.

The cable design was originally pursued after

investigation of a plastic toy robot hand with flexing
fingers. It is interesting to note that the cable finger
Figure 6. Cable Finger Collapse During Pinch design will work under the special condition where
the cable is semi-flexible, as was the case for this toy.
The second problem with this design is that the The cable itself could be a thick nylon or
fingers would not close in a trajectory suitable for polypropylene tendon, such that when tension is
grasping objects. This trajectory was also very non- applied to it, the flexing of the tendon defines the
cosmetic in dynamic appearance. During finger finger shape, not the phalanges surrounding the cable.
flexion, first the distal phalanx link would flex fully, Because the tendon has ‘memory’ it returns to its
then the medial phalanx link would flex somewhat, original shape after the tension is released,
finally followed by the proximal phalanx link. This eliminating the need for springs. The only drawback
incorrect motion is shown in Figure 7. During the of this design is the great amount of energy that is
close of a natural hand, all of the phalanges flex needed to constantly flex this semi-rigid tendon.
inward at the same time, with the proximal phalanx Such designs are currently being pursued by a group
flexing through a greater angle during the process. In in California[19].
this way, the natural hand can either pinch an object,
or grasp an object and continue to ‘wrap’ the TWO D.O.F. RIGID LINK FINGERS
remaining phalanges around the object. The reason The single degree of freedom fingers that have
for the incorrect trajectory of the cable finger design been designed for the prototype hand, as shown in
can best be explained with the use of Figure 7.

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Figures 3 and 4, can be converted into two degree of THUMB DESIGN

freedom fingers quite easily. This was not done for The distal portion of the thumb is similar to that
the prototype hand due to space requirements and the of the fingers, however the thumb uses only four
need for a second actuator, but it is shown here to links. The thumb is able to flex and extend only the
demonstrate the versatility of the rigid link design. two outer segments (distal phalanx, and medial
One degree of freedom can control the flexion and phalanx). The base segment (carpometacarpal
extension of the finger as before, while the additional phalanx) cannot flex or extend, but is able to adduct
degree of freedom can control the ‘curl’ or trajectory and abduct (rotate). Rotation of the thumb is
of the finger. This is achieved by greater control of achieved by having the operator of the prosthesis use
link 6 in the finger as depicted in Figure 8. his opposite hand to position the thumb, or by
pushing the thumb against a fixed object, such as a
table, to move it to the desired position.

The thumb is illustrated in Figure 9. Link 4T is

the drive link that actuates the thumb. The entire
assembly is able to rotate about the dashed line
labelled as the thumb rotational axis. This is
achieved by rotation of the thumb base about the
palm base shaft.

Figure 8. Two Degree of Freedom Design

Link 6 in the prototype hand is connected at

three points. One of these points is the slot pin which
slides through the straight slot in the x-axis. If the
link 6 slot pin is pulled in the positive x-direction, as
indicated in Figure 8, the finger will flex closed. If it
is driven in the negative x-direction, the finger will
extend open. In order to add a second degree of
freedom to this finger design, a mechanism could be
created that could drive the link 6 slot pin in the y-
direction, in addition to the x-direction. By driving Figure 9. Diagram of Thumb Assembly
the slot pin in the positive y-direction, the finger
would curl inwards more tightly during flexion. The drive cable provides the mechanical actuation
Alternatively, by driving the slot pin in the negative needed to flex and extend the two distal segments
y-direction, the finger would curl less tightly (phalanges) of the thumb. Flexion is achieved by
(straighten out more) during flexion. This curling applying tension to the drive cable, which is looped
inward or straightening out motion would be over the thumb pulley, and connected to link 4T.
independent of the flexion or extension of the finger. When the tension in the drive cable is relieved, the
Together, if controlled properly, these two degrees of thumb return spring exerts a force on link 4T to
freedom could add increased functionality and return the thumb to the extended position. Figure 10
dynamic cosmesis to a hand design. illustrates the adduction and abduction (rotational)
range of motion of the thumb. The use of a cable
To implement the two D.O.F. design, an provides for a very compact thumb design. The key
additional actuator would be needed, more space to the design is to keep the drive cable coaxial with
would be required, and a proper control system for the thumb rotational axis. In this way, no matter
finger coordination would need to be developed. which angle the thumb assembly is rotated

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to, the drive cable will always be able to flex and The cosmetic appearance of the hand is very
extend the thumb without slipping off the thumb good. It is proportioned more or less like a child’s
pulley. The drive cable is connected to the adaptive hand. The fingers are 66 mm long (from knuckle to
grasp mechanism at the other end. tip), 9 mm wide and 11 mm thick. The palm is 80
mm long, 65 mm wide and 25 mm thick. The palm is
longer than normal, but future design changes can
shorten it by up to 12 mm. To improve cosmetic
appearance, a conventional prosthesis glove was
heated and stretched to fit over top the prototype
hand. With the glove on, the dynamic cosmesis of
the hand, that is, the appearance of the hand while it
is in motion, is excellent.

The mass of the prototype hand alone is 217

grams without the glove. The mass of the hand
including the motor, gearbox and wrist structure is
280 grams. The motor used with the hand is a 6 Volt
MicroMo 1724 with a 22:1 gearbox. Aluminium
(7075-T6) was used for the finger links. The palm
Figure 10. Thumb Range of Motion (Front View) and thumb base were made of Delrin plastic. The
cable is made of Kevlar and the pulleys on which it
The thumb can be rotated, within the angles rotates over are made of aluminium. In comparison,
shown, giving the hand the ability to grasp flat the Montreal Hand, which is capable of similar
objects such as a credit card or key with the thumb mechanical function to the prototype hand, has a
out to the side, or to carry objects with only the mass of 540 grams [6].
fingers, such as a suitcase.
The hand is able to achieve a maximum pinch
Results and Discussion: force of 14 N. This is approximately one-third the
One prototype hand was built according to the pinch force of a conventional prosthesis, such as the
designs described. Figure 11 shows the prototype VASI 7-11 hands. Although the adaptive grasp may
hand from the dorsal side, with fingers in the secure some objects better, precision pinches of items
extended position and the thumb abducted (rotated such as a fork would still require a high pinch force.
out to the side position). Therefore, the pinch force must be improved upon.
Also, the time to fully close the hand and achieve a
firm pinch is 4 to 5 seconds, which is too slow to be
practical. It should be in the range of 1 to 1.5
seconds. Both of these deficiencies are interrelated
and can be overcome with the implementation of a
two speed automatic transmission. Such a device has
been designed for prosthetic hands [20]. The Otto
Bock 2000 prosthesis [1], is a conventional, mass
produced prosthesis that also uses a two speed
automatic transmission. The transmission would
serve to increase the pinch force (when geared low)
while decreasing the closing and opening times
(when geared high).

Pull-out tests were done to determine the amount

of force required to pull objects out of the hand’s
grasp. The grasp stability was found to be greater for
Figure 11. Prototype Hand, Dorsal View small objects, when the fingers were able to partially
or completely enclose objects by curling and adapting
around them. Even with a pinch force of only 14 N,

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these objects could not be easily removed from the [7] Kyberd, P.J.; Chappell, P.H., “The Southampton Hand:
hand in any direction. This enclosure of small objects An intelligent myoelectric prosthesis”, Journal of
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[8] Chappell, P.H.; Kyberd, P.J., “Prehensile control of a
hand prosthesis by a microcontroller”, Journal of
The size and weight of the prototype hand are Biomedical Engineering, Vol. 13, pp363 -369, 1991
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currently the energy use, the closing/opening times Architecture for the Belgrade/USC Hand”, pp 136-149. In:
and the pinch force are not able to match a Venkataraman, S.T.; Iberall, T, Dextrous Robot Hands,
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deficiencies will be solved, but this will be at the cost Selfadaptability”, Robotics & Computer-Integrated
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[11] Jacobsen, S.C.; Wood, J.E.; Knutti, D.F.; Biggers,
K.B., “The Utah/M.I.T. Dextrous Hand: Work in
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A child sized prosthesis has been designed Vol. 3, No. 4, pp 21-50, 1984
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mechanism. The adaptive grasp of this hand is and Control for the Utah/MIT Hand”, pp 239-266. In:
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curl as they flex, and secondly an internal spring Springer-Verlag New York Inc, New York, 1990
mechanism allows the fingers to flex inwards [13] Atkins, D.J.; Heard, D.C.Y.; Donovan, W.H.,
independently of one another. The finger design has “Epidemiologic Overview of Individuals with Upper-Limb
Loss and Their Reported Research Priorities”, Journal of
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fingers that are restricted to a single degree of 1996
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finger design greatly increases hand adaptability, with Adaptive Grasp Prosthetic Hand: Better Function and
relatively little increase in complexity. Thirdly, the Cosmesis, M.A.Sc. Thesis, Department of Mechanical and
thumb can be passively rotated, providing more Industrial Engineering, University of Toronto, 1998
grasping configurations. These features have been [15] Dechev, N.; Cleghorn, W. L.; Naumann, S., “Multiple
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