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Designing a Parametrically Scalable Prosthetic Arm for Affordable Rapid Prototyping Machines

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Figure

Figure 27 shows the entire testing hand assembly with the six link fingers, adaptive grasp,  and ratcheting systems
Figure 62 shows the equations associated with the scaling of the entire arm. Again, there  were not as many equations needed as with the finger scaling because most of the dimensions  stay the same between sizes of the arm model
Figure 67 is a picture timeline of the small hand test.

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