Master-Slave Grasping Control for Enhanced Functionality in Under Actuated Prosthetic Hands for Upper Limb Amputees

According to the International Classification of Functioning, Disability and Health (ICF), upper limb amputations constitute 16% of total amputations, significantly affecting an individual's ability to grasp objects. This paper proposes the development of an underactuated prosthetic hand tailored for upper limb amputees, introducing a Master-Slave Grasping Control system. The research involves meticulous study and development of suitable underactuated finger mechanisms, servo motors and controllers to enhance grasping and ungrasping activities. Employing SolidWorks and 3D printing technologies, the prosthetic hand is designed to seamlessly replace the lost limb, enabling users to grasp and ungrasp various objects. The innovative Master-Slave Grasping Control system facilitates intuitive and coordinated movements, enhancing the prosthetic hand's functionality. A series of tests is conducted to validate the proposed design, demonstrating its efficacy in achieving natural and versatile grasping motions. This research contributes to the advancement of upper limb prosthetics, addressing the unique challenges faced by amputees and promoting a more integrated and user-centric approach to prosthetic design.