Chapter 2. Prehension

Appendix D - Prosthetic and Robotic Hands 415
Table D.5. Research prosthetic hands. Body-power, myoelectric
control, switches, or servos are used to power these devices. They
consist of a thumb and two or four fingers. The Stanford
University devices have two jaws. The thumb (or jaw) is a virtual
finger 1, and the fingers (or jaw) are virtual finger 2. Active
fingers or jaws can act as a VF3. The cutout in Prehensor A can
also be a VF3. (T=thumb: kindex, M=middle. R=ring. L=little) .,I
(from Iberall, Beattie & Bekey, in press; reprinted by permission).’
Organization
and Name
P.M.R. OrthoDaedic
Control Opp VF1 VFZ4 VF3
Hosp., Edinburgh
KenworthyHand bodyor pad T I-M(R-L)
ext.
PBd&T I/M radial side of
side Palm
I-M
S outhampton
University
Southampton myoelec. pad T I
Hand
p a d T I-M-R-L
palm palm T-I-M-R-L
palm& palm/T
side
I-M-R-L/I
side T I
I-M-R-L
Stanford University
Prehensor A vol. pad lower upperjaw cutout
closing jaw
upper jaw
Prehensor C vol. pad leftjaw middlejaw
closing
pad middle rightjaw
jaw
Fkhensor B vol. side thinner thickerjaw
closing jaw
left and middle;
right
4Slash separates the use of real fingers in oppositions. Also, see Footnote for
Table 3.