This project aims to create a bone-in soft prosthetic hand that closely mimics human hand movements and sensations using a combination of hardware and software components. Our soft robotic hand achieves segmented finger motion through different actuation methods including pneumatic actuators, cable pulleys, and rotational actuators, and it has a compliant grip and realistic appearance using a silicone glove. In addition, the hand has three degrees of freedom at the wrist, provided by three linear actuators forming a tripod parallel mechanism. Overall, this project represents a significant advancement in prosthetic hand development.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Turett, Ethan
• Mutsaku Fierro, Ndenda
• Figler, Mason
• Petrie, Joelynn
• Fennell, Brian

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042723-134853
• 106241

Keyword

• pneumatics
• soft robotics
• wireless control
• prosthetic hand
• cable-driven
• biomimicry

Advisor

• Agheli Hajiabadi, Mohammad Mahdi
• Nemitz, Markus

Year

• 2023

Date created

• 2023-04-27

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering
• Robotics Engineering
• Mechanical Engineering

Source

• E-project-042723-134853

Rights statement

• In Copyright

Last modified

• 2023-06-23