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

Table 6

Power for executing the desired grasping patterns.

	% of total ADL	% of achievable patterns,	Energy, body power, (Ws)	Energy, electric power, (Ws)	× (Ws)	× (Ws)
Power grasp	40%	55.4%	21.21	0	11.75	0.00
Index finger extension	13%	18.0%	0	18.79	0.00	3.38
Tip grasp	7%	9.7%	3.53	14.83	0.34	1.44
Lateral grasp	12%	16.6%	5.3	23.36	0.88	3.88
Hook grasp	0.2%	0.3%	0	13.19	0.00	0.04
Total energy consumption					12.97	8.74
% energy consumption					59.7%	40.3%