Date of Award


Document Type

Masters Thesis

Degree Name


Organizational Unit

Daniel Felix Ritchie School of Engineering and Computer Science

First Advisor

Kimon P. Valavanis, Ph.D.

Second Advisor

Matthew Rutherford

Third Advisor

Michael Keables

Fourth Advisor

Konstantinos Kanistras


Electromyography, Vibration motor, Prosthetic hand


A cost-effective five-finger prosthetic hand is designed from aluminum, modeled and controlled using surface Electromyography (EMG) signals, which are obtained from the human body. Force sensors are used to control required forces needed to grasp and pick objects. A prototype hand is developed and it is experimentally tested to reproduce a wide spectrum of human hand motions. The size of the five-finger hand is similar to an adult male human hand, and it is capable of reproducing most of movements. Each finger has the same number of links as the real/human hand. Each finger also has a force sensor used to sense applied forces to the fingertip, subsequently dictating to the amputee to take specific actions. By using a vibration motor, the amputee knows if any ‘object’ is in touch with the prosthetic hand. Compared to other existing (and more expensive hands that include biotic sensors and smart motors), it is shown and it is experimentally validated that this cost-effective prosthetic five-finger hand is durable, strong, and capable of reproducing hand motions.

Publication Statement

Copyright is held by the author. User is responsible for all copyright compliance.

Rights Holder

Mohammad Yahya Almuhanna


Received from ProQuest

File Format




File Size

121 p.