2. INTRODUCTION The objective is to develop an artificial hand aimed at replicating the appearance and performance of the natural hand or to obtain a complete functional substitution of the natural hand. Main problems to be solved in order to improve the performance of prosthetic hands are: 1) lack of sensory information gives to the amputee 2) lack of “natural” command interface. 3) limited grasping capabilities 4) unnatural movements of fingers during grasping.

4. BIOMECHATRONIC DESIGN The main requirements to be considered are: - cosmetics - controllability - noiselessness - lightness - low energy consumption

5. ARCHITECTURE OF THE BIOMECHATRONIC HAND It uses small actuators (two of each finger) and micro motors instead of one single large actuator and motor.

7. ACTUATION SYSTEM Heavy actuator system

8. Micro actuator system

10. SMOOVY Characteristics

11. Kinematics architecture The kinematics of each finger joints are: MP (Meta carpophalengal) joint PIP (Proximal interphalengal) joint DIP (Distal interphalengal) joint

13. HAND PROTOTYPE

14. POSITION AND FORCE SENSORS SENSORS 1) Tactile sensors 2) Proximity and range sensors 3) Position sensors 4) Hall effect sensors

16. HALL EFFECT SENSORS There are two basic forms of this sensor, LINEAR $ THRESHOLD.

17. SENSORS CHARACTERISATION CHARACTERISATION OF POSITION SENSOR.

18. CHARACTERIZATION OF FORCE SENSOR

20. FINGERED TRIP FORCE ANALYSIS

21. FUTURE IMPROVEMENTS Natural fingers movements during grasping and force sensor measurements should be further investigated.

22. CONCLUSION The biomechatronic design approach can lead to the development of hand and prostheses. It requires low cost and low energy consumption for adequate autonomy (at least 8 hours between recharges).

23. THANK YOU