{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T15:12:32Z","timestamp":1783437152624,"version":"3.54.6"},"reference-count":23,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2020,12,30]],"date-time":"2020-12-30T00:00:00Z","timestamp":1609286400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61803201, 91648206, 61773205"],"award-info":[{"award-number":["61803201, 91648206, 61773205"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["BK20170803"],"award-info":[{"award-number":["BK20170803"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2019M661686"],"award-info":[{"award-number":["2019M661686"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Micromachines"],"abstract":"<jats:p>To realize the adaptive grasping of objects with diverse shapes and to capture the joint angles of the finger, a multi degree of freedom (DOF) adaptive finger for prosthetic hand is proposed in this paper. The fingers are designed with three joints. The maximum rotation angle of the finger joints is 90\u00b0. The angle at which the finger joints bend can be captured. Firstly, the prototype design, forward kinematics and force analysis of phalanges are described in detail. In order to achieve an adaptive motion pattern similar to that of the human hand, this paper investigates the optimization of the torsion spring stiffness coefficient so that the metacarpophalangeal (MCP) joints, proximal interphalangeal (PIP) joints, and distal interphalangeal (DIP) joints of the bionic finger meet a motion ratio of approximately 3:3:1. Then, in order to realize the joint angle measurement in the process of grasping an object, the mechanical-sensor integrated finger joint is designed, and the composition, angle measurement principle and measurement circuit are introduced in detail. Finally, joint angle measurement, movement law evaluation and object grasping experiments are performed to verify the validity of the designed finger. The experimental results show that the root-mean-square (RMS) of the DIP, PIP and MCP angle measurement errors are 0.36\u00b0, 0.59\u00b0 and 0.32\u00b0, respectively. The designed finger is able to grasp objects with different shapes stably.<\/jats:p>","DOI":"10.3390\/mi12010033","type":"journal-article","created":{"date-parts":[[2020,12,30]],"date-time":"2020-12-30T09:35:23Z","timestamp":1609320923000},"page":"33","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand"],"prefix":"10.3390","volume":"12","author":[{"given":"Changcheng","family":"Wu","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"},{"name":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tianci","family":"Song","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zilong","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingqing","family":"Cao","sequence":"additional","affiliation":[{"name":"School of Aviation Engineering, Nanjing Vocational University of Industry Technology, Nanjing 210023, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fei","family":"Fei","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dehua","family":"Yang","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0735-1498","authenticated-orcid":false,"given":"Baoguo","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1982-6780","authenticated-orcid":false,"given":"Aiguo","family":"Song","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ren, Z., Kashiri, N., Zhou, C., and Tsagarakis, N.G. 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