Replacing the human hand with artificial devices of equal capability and effectiveness is a long-standing challenge. Even the most advanced hand prostheses, which have several active degrees of freedom controlled by the electrical signals of the stump’s residual muscles, do not achieve the complexity, dexterity, and adaptability of the human hand. Thus, prosthesis abandonment rate remains high due to poor embodiment. Here, we report a prosthetic hand called Hannes that incorporates key biomimetic properties that make this prosthesis uniquely similar to a human hand. By means of an holistic design approach and through extensive codevelopment work involving researchers, patients, orthopaedists, and industrial designers, our proposed device simultaneously achieves accurate anthropomorphism, biomimetic performance, and human-like grasping behavior that outperform what is required in the execution of activities of daily living (ADLs). To evaluate the effectiveness and usability of Hannes, pilot trials on amputees were performed. Tests and questionnaires were used before and after a period of about 2 weeks, in which amputees could autonomously use Hannes domestically to perform ADLs. Last, experiments were conducted to validate Hannes’s high performance and the human likeness of its grasping behavior. Although Hannes’s speed is still lower than that achieved by the human hand, our experiments showed improved performance compared with existing research or commercial devices.

用同等能力和效力的人工设备代替人的手是一项长期的挑战。即使是最先进的手部假体，也具有几个活动自由度，这些自由度受残端残肢肌肉的电信号控制，无法实现人手的复杂性，灵巧性和适应性。因此，由于不良的实施方式，假体放弃率仍然很高。在这里，我们报告了一种称为Hannes的假肢手，该假手融合了关键的仿生特性，从而使该假肢与人类的手极为相似。通过整体设计方法以及研究人员，患者，骨科医师和工业设计师的广泛合作开发，我们提出的设备可同时实现准确的拟人化，仿生性能，以及类似人类的抓地力行为，其表现要优于执行日常生活活动（ADL）所需的行为。为了评估Hannes的有效性和可用性，对截肢者进行了中试。在大约2周之前和之后使用测试和问卷，其中截肢者可以在国内自主使用Hannes来执行ADL。最后，进行了实验以验证汉尼斯的高性能以及其抓握行为的人像性。尽管Hannes的速度仍低于人手所能达到的速度，但我们的实验表明，与现有的研究或商用设备相比，其性能有所提高。在大约2周之前和之后使用测试和问卷，其中截肢者可以在国内自主使用Hannes来执行ADL。最后，进行了实验以验证汉尼斯的高性能以及其抓握行为的人像性。尽管Hannes的速度仍低于人手所能达到的速度，但我们的实验表明，与现有的研究或商用设备相比，其性能有所提高。在大约2周之前和之后使用测试和问卷，其中截肢者可以在国内自主使用Hannes来执行ADL。最后，进行了实验以验证汉尼斯的高性能以及其抓握行为的人像性。尽管Hannes的速度仍然低于人手所能达到的速度，但我们的实验表明，与现有的研究或商用设备相比，其性能有所提高。