Development of an Anthropomorphic Prosthetic Gripper

Abstract: Over the past few decades, advancements in robotic dexterity have revealed the limitations of traditional fully actuated, multi-fingered hands, which are often complex, costly, and heavy, thus hindering their practical use in robotics and prosthetics. A promising alternative is the development of underactuated, compliant grippers, offering a lightweight and affordable solution for grasping a variety of objects. This paper presents the development of a five-fingered anthropomorphic gripper that allows for grasp adaptability without compromising weight and affordability. The gripper’s performance is validated through a series of experiments, including grasping tests with seven distinct everyday objects, strength assessments using a dynamometer, and an analysis of its potential application as a prosthetic device. Results indicate that the gripper effectively handles various shapes and sizes, demonstrating notable strength, though challenges remain in grasping smaller objects. This work highlights both the capabilities and limitations of the proposed gripper, providing insights for future improvements and considerations for prosthetic feasibility.