Design of an anthropomorphic prosthetic hand towards neural interface control

This paper presents the design of an anthropomorphic artificial hand called SJT-3 towards neural-controlled prosthetic applications, focusing on mechanism and local control. The hand has 5 fingers, 15 joints and 6 intrinsic motors, and is similar to a human hand in appearance, size and weight. The hand can achieve various basic grasps and common gestures, required in daily life. It is connected with a 3-DOF artificial forearm. A local controller integrated in the prosthesis based on master-slave structure is adopted in order to keep the dexterity under the limited inputs of current neural interface. The prototype has been developed, and evaluated with a surface EMG interface.