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

In the present study, we propose a new actuation device and protocol for testing the grasping performance of low-cost 3D-printed hand prototypes. The actuation device is connected to the forearm of a healthy user and allows him to use his thumb and fingers to control any prototype moved by up to six tendons attached to this device. The protocol includes grasping actions on 24 different objects using eight typical grasp types to obtain a grasping ability score and information about the coordination of motion among the fingers. This study also presents a new design for a low-cost 3D-printed prosthetic hand, called the IMMA hand. Preliminary tests were performed with the IMMA hand and the actuation device on two subjects, using the protocol, to assess the validity of the device for the experimental evaluation of hand prototypes in early design stages. The analysis of the results of these tests shows that the coordination of motions among fingers is quite similar for both subjects, indicating a similar control of the artificial hand. Index and ring finger motions are highly correlated in over half of the grasp actions performed for both subjects.