HyPro: A Multi-DoF Hybrid-Powered Transradial Robotic Prosthesis

Figure 1

Motions of below elbow extremity (adapted from [14]) and common grasping patterns (adapted from [15]). (a) Forearm supination-pronation, (b) flexion-extension of hand, (c) radial-ulnar deviation of hand, (d) finger abduction-adduction, (e) finger flexion-extension, (f) power grasp, (g) index point, (h) lateral grasp, (i) tip grasp, (j) chuck or spherical grasp, and (k) Hook grasp.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)

(k)