An Adaptive Grasping Multi-Degree-of-Freedom Prosthetic Hand with a Rigid–Flexible Coupling Structure

This study presents the design and evaluation of a dexterous prosthetic hand featuring five fingers, ten independently actuated joints, and four passively driven joints. The hand’s dexterity is enabled by a novel rigid–flexible coupled finger mechanism that incorporates a 1-active–1-passive joint configuration, which can enhance the dexterity of traditional rigid actuators while achieving a human-like workspace. Each finger is designed with a specific degree of rotational freedom to mimic natural opening and closing motions. This study also elaborates on the mapping of eight-channel electromyography to finger grasping force through improved TCN, as well as the control algorithm for grasping flexible objects. A functional prototype of the prosthetic hand was fabricated, and a series of experiments involving adaptive grasping and handheld manipulation tasks were conducted to validate the effectiveness of the proposed mechanical structure and control strategy. The results demonstrate that the hand can stably grasp flexible objects of various shapes and sizes. This work provides a practical solution for prosthetic hand design, offering promising potential for developing lightweight, dexterous, and highly anthropomorphic robotic hands suitable for real-world applications.