{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T01:02:24Z","timestamp":1792112544049,"version":"4.4.0"},"reference-count":50,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,9,21]],"date-time":"2021-09-21T00:00:00Z","timestamp":1632182400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Bioengineering"],"abstract":"<jats:p>Hand prostheses partially restore hand appearance and functionalities. In particular, 3D printers have provided great opportunities by simplifying the manufacturing process and reducing costs. The \u201cFederica\u201d hand is 3D-printed and equipped with a single servomotor, which synergically actuates its five fingers by inextensible tendons; no springs are used for hand opening. A differential mechanical system simultaneously distributes the motor force on each finger in predefined portions. The proportional control of hand closure\/opening is achieved by monitoring muscle contraction by means of a thin force sensor, as an alternative to EMG. The electrical current of the servomotor is monitored to provide sensory feedback of the grip force, through a small vibration motor. A simple Arduino board was adopted as the processing unit. A closed-chain, differential mechanism guarantees efficient transfer of mechanical energy and a secure grasp of any object, regardless of its shape and deformability. The force sensor offers some advantages over the EMG: it does not require any electrical contact or signal processing to monitor muscle contraction intensity. The activation speed (about half a second) is high enough to allow the user to grab objects on the fly. The cost of the device is less then 100 USD. The \u201cFederica\u201d hand has proved to be a lightweight, low-cost and extremely efficient prosthesis. It is now available as an open-source project (CAD files and software can be downloaded from a public repository), thus allowing everyone to use the \u201cFederica\u201d hand and customize or improve it.<\/jats:p>","DOI":"10.3390\/bioengineering8090128","type":"journal-article","created":{"date-parts":[[2021,9,21]],"date-time":"2021-09-21T08:04:23Z","timestamp":1632211463000},"page":"128","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":35,"title":["The \u201cFederica\u201d Hand"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0716-8431","authenticated-orcid":false,"given":"Daniele","family":"Esposito","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples \u201cFederico II\u201d, 80125 Naples, Italy"},{"name":"Department of Neurorehabilitation, IRCCS Istituti Clinici Scientifici Maugeri, 27100 Pavia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1165-4451","authenticated-orcid":false,"given":"Sergio","family":"Savino","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, Polytechnic and Basic Sciences School, University of Naples \u201cFederico II\u201d, 80125 Naples, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4829-3941","authenticated-orcid":false,"given":"Emilio","family":"Andreozzi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples \u201cFederico II\u201d, 80125 Naples, Italy"},{"name":"Department of Neurorehabilitation, IRCCS Istituti Clinici Scientifici Maugeri, 27100 Pavia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1100-8756","authenticated-orcid":false,"given":"Chiara","family":"Cosenza","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, Polytechnic and Basic Sciences School, University of Naples \u201cFederico II\u201d, 80125 Naples, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vincenzo","family":"Niola","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, Polytechnic and Basic Sciences School, University of Naples \u201cFederico II\u201d, 80125 Naples, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9585-971X","authenticated-orcid":false,"given":"Paolo","family":"Bifulco","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples \u201cFederico II\u201d, 80125 Naples, Italy"},{"name":"Department of Neurorehabilitation, IRCCS Istituti Clinici Scientifici Maugeri, 27100 Pavia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,9,21]]},"reference":[{"key":"ref_1","first-page":"97","article-title":"Design and Assessment of a Low-Cost, Electromyographically Controlled, Prosthetic Hand","volume":"6","author":"Polisiero","year":"2013","journal-title":"Med. 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