Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance

Abstract

This paper examines modular terminal devices for prosthetic systems and evaluates how non-humanoid, task-oriented designs can improve user performance. The work focuses on functionality rather than imitation alone, arguing for prosthetic end-effectors that are better matched to real tasks and user needs. It contributes to the design of more practical and capable assistive devices.

Citation

Chappell, D., Mulvey, B., Perera, S., Bello, F., Kormushev, P., & Rojas, N. (2025). Beyond Humanoid Prosthetic Hands: Modular Terminal Devices That Improve User Performance. IEEE Transactions on Neural Systems and Rehabilitation Engineering. https://doi.org/10.1109/TNSRE.2025.3528725