Development of a Cost-Effective Flex Sensor-Controlled Robotic Hand with Independent Finger Control

The field of prosthetic has experienced a significant growth over the past two decades, however challenges related to the balance between cost, weight, and flexibility remain. This paper addresses these challenges by utilizing a flex sensors-based angle control strategy using standard components to create a cost-effective robotic hand. The primary objective is to achieve adaptable gripping capabilities using a tendon-driven and linkage-based mechanism, enabling precise control of the robotic hand's movements. The system integrates efficient signal processing processing with a simplified finger model and trajectory calculation, demonstrating the feasibility of the design. Finally, the grasping test is conducted and compared with three similar prosthetic hands, highlighting the benefits brought by worm-gear driven model and identifying areas for improvement.