A Low-cost Multi-degree-of-freedom and High Dexterity Intelligent Humanoid Prosthetic Hand

Most of the current humanoid prostheses only consider the degree of freedom of finger flexion and extension, and seldom consider the degree of freedom of finger adduction and abduction. To address this problem, a low-cost, multi-freedom and high dexterity intelligent humanoid prosthesis has been designed, which can realize seven degrees of freedom: five-finger flexion and extension, four-finger splitting and syndactyly, and thumb lateral rotation. The hand can be controlled by the disabled person's own surface electromyography (sEMG) signals for flexion, extension, and grasping objects to fulfill the patient's daily life needs. The results provide new ideas for the structural design of intelligent humanoid prostheses.