HAND PROSTHESIS WITH VOLUNTARY OPENING Tendon-Driven Hand The application of various principles of underactuation led to the design of an auto-adaptive tendon-driven hand. Just as the human hand, the fingers have three phalanges linked together with cylindrical joints. A tendon-driven mechanism allows the fingers to close in a natural manner. Each finger has a single actuator for three degrees of freedom (DOF). These are thus under-actuated and in this way obtain an adaptable ability. A fourth d
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