In the design of prosthetic hand fingers, achieving human-like movement while meeting anthropomorphic demands such as appearance, size, and lightweight is quite challenging. Human finger movement involves two distinct motion characters during natural reach-and-grasp tasks: consistency in the reaching stage and adaptability in the grasping stage. The former one enhances grasp stability and reduces control complexity; the latter one promotes the adaptability of finger to various objects. However, conventional tendon-driven prosthetic finger designs typically incorporate bulky actuation modules or complex tendon routes to reconcile the consistency and adaptability. In contrast, we propose a novel friction clutch consisting of a single tendon and slider, which is simple and compact enough to be configurated within the metacarpal bone. Through tactfully exploiting the friction force to balance the gravity effect on each phalanx during finger motion, this design effectively combines both consistency and adaptability. As a result, the prosthetic finger can maintain consistent motion unaffected by any spatial posture during reaching, execute adaptive motion during grasping, and automatically switch between them, resulting in human-like reach-and-grasp movements. Additionally, the proposed finger achieves a highly anthropomorphic design, weighing only 18.9 g and possessing the same size as an adult’s middle finger. Finally, a series of experiments validate the theoretical effectiveness and motion performance of the proposed design. Remarkably, the mechanical principle of the proposed friction clutch is beneficial to achieve highly anthropomorphic design, providing not only a new strategy to prosthetic hand design but also great potential in hand rehabilitation.

This paper proposes a novel finger-individuating exoskeleton system with a non-contact leader–follower control strategy that effectively combines motion functionality and individual adaptability. Our solution comprises the following two interactive components: the leader side and the follower side. The leader side processes joint angle information from the healthy hand during motion via a Leap Motion Controller as the system input, providing more flexible and active operations owing to the non-contact manner. Then, as the follower side, the exoskeleton is driven to assist the user’s hand for rehabilitation training according to the input. The exoskeleton mechanism is designed as a universal module that can adapt to various digit sizes and weighs only 40 g. Additionally, the current motion of the exoskeleton is fed back to the system in real time, forming a closed loop to ensure control accuracy. Finally, four experiments validate the design effectiveness and motion performance of the proposed exoskeleton system. The experimental results indicate that our prototype can provide an average force of about 16.5 N for the whole hand during flexing, and the success rate reaches 82.03% in grasping tasks. Importantly, the proposed prototype holds promise for improving rehabilitation outcomes, offering diverse options for different stroke stages or application scenarios.