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

Table 4

Achieved DoF by HyPro.

Unit	Component	Joint	Movement	Actuation method	DoF
Hand unit	Thumb	Interphalangeal	Flexion-extension	Body power	1
		Metacarpophalangeal	Flexion-extension	Body power	1
			Abduction-adduction	Electric power	1
	Index finger Middle finger Ring finger; Little finger	Distal interphalangeal	Flexion-extension	Body power or electric power	1 × 4
		Proximal interphalangeal	Flexion-extension	Body power or electric power	1 × 4
		Metacarpophalangeal	Flexion-extension	Body power or electric power	1 × 4
	Total number of DoF in HyPro hand unit				15
Wrist unit	Wrist joint	Radiocarpal	Flexion-extension	Electric power	1
			Supination-pronation	Electric power	1
	Total number of DoF in HyPro wrist unit				2