Underactuated mechanism (UAM) is commonly used to describe current version of prosthetic hands. Different numbers of motors are being used for finger and thumb movements range from 1 to 16. Our target of this paper is to assess a Coefficient of UAM (CoUAM) of different types of prosthesis and their relation in term of various parameters i.e. cost, weight, function, design simplifications etc. and also to classify them.
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