Mechanical aspects of robot hands, active hand orthoses, and prostheses: A comparative review

Jens Vertongen; Derek G. Kamper; Gerwin Smit; Heike Vallery

doi:10.1109/TMECH.2020.3014182

Mechanical aspects of robot hands, active hand orthoses, and prostheses: A comparative review

Jens Vertongen
, Derek G. Kamper
, Gerwin Smit
, Heike Vallery^*

^*Corresponding author for this work

Rehabilitation Medicine

Delft University of Technology
University of North Carolina at Chapel Hill

Research output: Contribution to journal › Review article › Academic › peer-review

34 Citations (Scopus)

Abstract

The large interest in robot hands and active hand prostheses has in recent years been joined by that in active hand orthoses. Despite the differences in intended uses, these three categories of artificial hand devices share key characteristics. Examination of the commonalities could stimulate future design. Thus, in this article, we undertook a comparative review of publications describing robot hands, active prostheses, and active orthoses, with a focus on mechanical structure, actuation principle, and transmission. Out of a total of 510 papers identified through the literature search, 72 publications were included in a focused examination. We identified trends in the design of artificial hands and gaps in the literature. After comparing their mechanical aspects, we propose recommendations for future development.

Original language	English
Article number	9157986
Pages (from-to)	955-965
Number of pages	11
Journal	IEEE/ASME Transactions on Mechatronics
Volume	26
Issue number	2
DOIs	https://doi.org/10.1109/TMECH.2020.3014182 https://doi.org/10.1109/TMECH.2020.3014182
Publication status	Published - Apr 2021

Bibliographical note

Funding Information:
Manuscript received January 16, 2020; revised May 12, 2020; accepted July 3, 2020. Date of publication August 4, 2020; date of current version April 15, 2021. This work was supported in part by the Dutch Research Council (NWO), Veni Project 15079, and in part by the United States Department of Health, and Human Services, National Institute on Disability, Independent Living, and Rehabilitation Research (NIDILRR), Rehabilitation Engineering Research Center (RERC) program funding mechanism: Collaborative Machines Enhancing Therapies (COMET), Grant H133E070013. Recommended by Technical Editor H. Wang and Senior Editor H. Qiao. (Corresponding author: Heike Vallery.) Jens Vertongen and Gerwin Smit are with the Department of BioMechanical Engineering, Delft University of Technology, 2600 Delft, The Netherlands (e-mail: [email protected]; [email protected]).

Publisher Copyright:
© 1996-2012 IEEE.

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http://resolver.tudelft.nl/uuid:059e34ba-44e7-4f33-b2de-0b277e207376Licence: Article 25fa Dutch Copyright Act

Cite this

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abstract = "The large interest in robot hands and active hand prostheses has in recent years been joined by that in active hand orthoses. Despite the differences in intended uses, these three categories of artificial hand devices share key characteristics. Examination of the commonalities could stimulate future design. Thus, in this article, we undertook a comparative review of publications describing robot hands, active prostheses, and active orthoses, with a focus on mechanical structure, actuation principle, and transmission. Out of a total of 510 papers identified through the literature search, 72 publications were included in a focused examination. We identified trends in the design of artificial hands and gaps in the literature. After comparing their mechanical aspects, we propose recommendations for future development.",

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note = "Funding Information: Manuscript received January 16, 2020; revised May 12, 2020; accepted July 3, 2020. Date of publication August 4, 2020; date of current version April 15, 2021. This work was supported in part by the Dutch Research Council (NWO), Veni Project 15079, and in part by the United States Department of Health, and Human Services, National Institute on Disability, Independent Living, and Rehabilitation Research (NIDILRR), Rehabilitation Engineering Research Center (RERC) program funding mechanism: Collaborative Machines Enhancing Therapies (COMET), Grant H133E070013. Recommended by Technical Editor H. Wang and Senior Editor H. Qiao. (Corresponding author: Heike Vallery.) Jens Vertongen and Gerwin Smit are with the Department of BioMechanical Engineering, Delft University of Technology, 2600 Delft, The Netherlands (e-mail: [email protected]; [email protected]). Publisher Copyright: {\textcopyright} 1996-2012 IEEE.",

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Mechanical aspects of robot hands, active hand orthoses, and prostheses: A comparative review

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