Prosthetic Robotic Hand

The human hand is a complex apparatus. Losing a hand is an extremely traumatic event that changes forever one’s life. To replace the human hand with a mechanical analogue is therefore difficult. It is simpler as with traditional robotics to replace individual functions with manipulators of different configurations rather than use a single multi-functional device. This book is targeted mechanical design contact-mechanics modeling and experimental investigations of robotic hand for prosthesis. This book is divided into six chapters. Chapter 1 is an introductory chapter. Chapter 2 presents a review of historical introduction of prosthetics mechanisms and mechanical contact modeling in robotic hands. Chapter 3 concerns with the theoretical analysis of a prosthetic robotic hand. Also this chapter deals with the modeling of contact mechanics and nonlinear stiffness for hemicylindrical soft fingers contacts. Chapter 4 presents the experimental work involving the method of manufacturing a prototype robotic hand for prosthesis. Furthermore experiments are conducted to validate the theory of the power-law equation. Results & conclusions are presented in chapter 5 &6.