The use of prosthetic devices can significantly improve the quality of life of individuals with limb amputations. However, existing prosthetic hands face multiple engineering and manufacturing challenges, making them economically inaccessible to a large portion of the population. This study focuses on the design and analysis of a cost-effective prosthetic hand capable of performing five fundamental grasp types: tripod, cylindrical, spherical, lateral, and pinch. The development process began with a biomechanical analysis of the human hand, followed by the derivation of a kinematic model. To ensure anthropomorphic fidelity, finger trajectories were synthesized using a computer vision-based algorithm that captured natural human motion. These trajectories were then mapped to the prosthetic control system. Experimental validation was conducted through rigorous goniometric analysis of the prototype’s execution. The results demonstrated the system’s effectiveness in replicating functional grasps, with a Root Mean Square Error (RMSE) within acceptable thresholds for assistive tasks. While the prototype achieved high motion correspondence, higher deviations were observed in distal joints due to mechanical transmission resistance and spring-return torque requirements. This work provides a scalable framework for tendon-driven prostheses, balancing advanced trajectory synthesis with a robust and accessible mechanical architecture.

Robotic wire harness assembly remains difficult to automate because the harness’s physical behavior must be reconciled with the requirements of industrial assembly across a sequence of dependent operations. This review addresses that problem by providing a unified view of the research landscape and by clarifying how existing technological developments contribute to complete wire harness automation. The contemporary analytical window covers publications from 2019 to August 2026, while earlier studies are retained selectively when they provide foundational technical context. The literature was reviewed through a structured, PRISMA-inspired evidence-mapping workflow and organized through six interconnected research domains. A transversal classification was combined with frequency analysis and binary association mapping to examine the distribution of research effort and patterns of cross-domain co-representation. The results reveal broad technical development throughout the proposed taxonomy. Higher associations are concentrated within a technical core linking robotic tasks, DLO manipulation, perception, and control, whereas manufacturing requirements are less frequently co-represented and reusable research infrastructure remains limited. These findings indicate that the current frontier of robotic wire harness assembly lies in the integration of existing capabilities. The resulting framework provides a structured foundation for navigating the field and directing future research toward cumulative and industrially relevant systems.