Chapter 2. Prehension

408 Appendices
Table D.2 Commercially available mechanical hands As body-
powered devices with one degree of freedom, they can be opened or
closed voluntary. They consist of a thumb and four fingers
(although in some only two fingers are active). The thumb is a
virtual finger 1, and the fingers are virtual finger 2. The four
fingers can act as a VF3. (T=thumb; kindex, M=middle, R=ring,
L=little) (from Iberall, Beattie & Bekey, in press; reprinted by
permission). (continued)
Manufacturer and Control Opp VF1 VF2I VF3
Name
Homer Dorrance
DonrrnceHands
APRL Hand
Sierra Hand
Becker Imperial
Hand
Becker Lock Grip
Hand
Becker Pylite
Hand
Robin- Aids
MechcalHand
Robin-Aids Soft
Mechanic. Hand
voluntary pad T I-M&R-L
opening
voluntary pad T I-M&R-L
closing
voluntary pad T I-M-R-L
opening
voluntary pad T I-M-R-L
opening
voluntary pad T I-M-R-L
opening
voluntary pad T I-M-R-L
opening
voluntary pad T I-M-R-L
opening
voluntary pad T I-M&R-L
opening
I-M-R-L
I-M-R-L
I-M-R-L
I-M-R-L
I-M-R-L
I-M-R-L
I-M-R-L
I-M-R-L
1While all four fingers are present in these hands, not all four fingers are
active in all of them. An ampersand is used for hands where the ring and
little fingers are not active.