Abstract

This paper presents the design, development, and functional validation of an inexpensive robotic hand prosthesis controlled via electromyographic (EMG) signals. Inspired by open-source models such as InMoov and Ada Hand, and building upon a previous prototype made in Universidad Austral de Chile, the proposed system integrates 3D-printed mechanical structures, EMG signal acquisition using MyoWare sensors, and servo-based actuation. The prosthesis aims to provide a functional and accessible solution for individuals with transradial amputations, addressing cost and usability barriers in the Chilean context. The system incorporates a feedback control loop and a modular architecture for ease of customization. Functional validation with ten users assessed signal thresholds, accuracy rates for prosthesis control and user feedback. © 2025 IEEE.