Cin{\'e}matique d'une Proth{\`e}se de Main Myo{\'e}lectrique Accessible avec Actionneur Unique et R{\'e}tropulsion Passive du Pouce

TL;DR

This paper introduces a novel, affordable myoelectric prosthesis with a single actuator and passive thumb retrusion, enabling multiple grip types through innovative cable-based kinematics.

Contribution

It presents a new kinematic design for a simple, robust, and cost-effective prosthesis using cables and passive thumb movement, enhancing accessibility.

Findings

Prototype successfully performs multiple grip types.

User evaluation indicates promising usability.

Design is simple, robust, and easy to repair.

Abstract

This work proposes a new kinematics of a myoelectric hand prosthesis with a single actuator, allowing to realize the tridigital grip but also the lateral grip. Inspired by tridigital prostheses, which are simpler, more robust and less expensive than polydigital prostheses, this new kinematics aims at proposing an accessible prosthesis (affordable, easy-to-use, robust, easy-to-repair). Cables are used instead of a rigid rod to transmit the movement bewteen the upper fingers and the thumb. The methods and design choices are detailed in this article. To conclude, the evaluation of the prototype by an experimented user leads to a first discussion of the results.