【Prosthetic Hands】06 First Generation - Relocation of the Actuators

    In this article, I will talk about how I tackled two problems - wire path and palm size. Just as mentioned in the previous article, the wire path was so twisted that the actuators had a hard time driving the fingers. To solve the problem, I made the linkages thinner and allocated more spaces for the wire path. Eventually, the wire path became less twisted, and it was easier for the servo motors to drive the fingers.

    To shrink the size of the palm, I relocated the actuators to the forearm and eliminated the mobility of the MCP joints. As a result, the size of the palm was significantly reduced. I made a prototype based on the concept, and the result looked promising.

In the next article, I will share about the how I integrated all components.