A UNI-body terminal device for a upper limb myoelectric prosthesis

Abstract

A uni-body terminal device (100) for a upper limb myoelectric prosthesis (200) that withstands impact upon accidental drop on the ground without sustaining damage, includes a wrist portion (102) configured for being implanted on the upper limb myoelectric prosthesis (200) of the user; at least one first compliant finger (104); two or more second compliant 5 fingers (106-A, 106-B); one or more myoelectric sensors (108); at least one servo motor (110) configured within the wrist portion (102) to rotate upon actuation for enabling movement of the at least one first compliant finger (104) and the two or more second compliant fingers (106-A, 106-B). The at least first compliant finger (104) and two or more second compliant fingers (300) are configured for establishing firm gripping conforming to 0 the shape of the object (300) being held there within.

Description

A UNI-BODY TERMINAL DEVICE FOR A UPPER LIMB MYOELECTRIC PROSTHESISTECHNICAL FIELD

[0001] The present disclosure relates generally to the field of biomedical devices. In particular, the present disclosure relates to a simple, compact, and efficient uni-body terminal device for a upper limb myoelectric prosthesis.BACKGROUND

[0002] An upper arm prosthetics have made significant strides in restoring function and mobility for individuals with limb loss. However, current technologies still face limitations that hinder their full integration into daily life. Conventional prosthetic devices like mechanical ones offer durability and affordability but lack the natural movement and dexterity required for complex tasks. Additionally, their rigid structure makes them vulnerable to damage from impacts. On the other hand, soft silicone prostheses mimic natural movement and provide comfort, but they may not be as durable and often require intricate control systems. Composite prostheses, while offering a balance of features, can be bulky, expensive, and require complex maintenance.

[0003] In the realm of device myoelectric prostheses, several technologies exist, each with its own strengths and limitations. A conventional mechanical prostheses based on mechanical designs, rely on cables, springs, and other mechanisms for movement. While durable and cost-effective, they lack the sophistication and natural movement capability of myoelectric prostheses, thus limiting dexterity for complex tasks. In case of rigid terminal devices. These prostheses utilize hooks or pincers for improved functionality but are prone to damage upon impact due to their rigid structure. The soft silicone prostheses where the soft silicone technology mimics the flexibility of natural human muscles and tendons, offering a more natural and comfortable user experience. However, current soft robotics prostheses may lack everyday durability and require complex control systems. In the case of composite prostheses where some prosthetic devices combine mechanical, myoelectric, and soft robotics technologies to balance durability, functionality, and comfort. However, these composite prostheses may still face weight, cost, and maintenance challenges.

[0004] Despite significant advancements in device prosthetics, existing technologies often suffer from limitations such as lack of impact resistance, limited dexterity, discomfort, or high cost. Addressing these limitations is crucial for improving the quality of life andfunctionality of individuals with device loss. Therefore, there is a need for the development of device prostheses capable of overcoming these limitations. These prostheses should be able to withstand everyday accidents and collisions without compromising functionality while also performing a wide range of complex movements with precision and control. Additionally, they should allow for extended wear without causing discomfort or irritation and minimize the need for frequent repairs or replacements. Ultimately, this would make advanced technology accessible to a wider range of users.

[0005] There is, therefore, a well-established need in the art to overcome the above- mentioned problems by providing a simple, compact, and efficient uni-body terminal device for an upper limb myoelectric prosthesis.OBJECTS OF THE PRESENT DISCLOSURE

[0006] A general object of the present disclosure is to overcome the problems associated with existing biomedical devices, by providing a simple, compact, efficient, and cost-efficient uni-body terminal device for an upper limb myoelectric prosthesis.

[0007] Another object of the present disclosure is to manufacture the uni-body terminal device using advanced 3D printing technology.

[0008] Yet another object of the present disclosure is to provide a lightweight uni -body terminal device with reduced number of moving parts for prolonged usage by the user.

[0009] Yet another object of the present disclosure is to provide a terminal device that withstands impact upon accidental drop on the ground without sustaining damage.SUMMARY

[0010] Aspects of the present disclosure pertain to the field of biomedical devices. In particular, the present disclosure relates to a simple, compact, and efficient uni-body terminal device for a upper limb myoelectric prosthesis.

[0011] In an aspect, a uni-body terminal device is detachably configured on an upper limb myoelectric prosthesis of a user. The device includes a wrist portion. The wrist portion is operatively coupled to the upper limb myoelectric prosthesis of the user. The wrist portion is configured for supporting the device on the upper limb myoelectric prosthesis. The device includes at least one first compliant finger with a first variable stiffness mechanism. The first compliant finger is configured on the wrist portion to facilitate gripping an object upon actuation.

[0012] The device in addition includes two or more second compliant fingers. Each second compliant finger includes at least one phalange with a second variable stiffness mechanism. The second compliant fingers are configured on the wrist portion parallel to the first compliant finger to facilitate gripping the object upon actuation. The device includes at least one servo motor. The servo motor is configured within the terminal device to rotate upon actuation.

[0013] The device further includes a four-bar linkage. The four-bar linkage is coupled to the at least one first compliant finger, the two or more second compliant fingers and the servo motor. The four-bar linkage transfers the rotational movement of the servo motor to the pivotal movement of the first compliant finger and the second compliant fingers. The device includes a control unit. The control unit is in communication with the first compliant finger, the second compliant fingers, and the servo motor. The control unit is configured to receive electrical signals from the muscles of the user using myoelectric sensors of the upper limb myoelectric prosthesis or manually from the user of the device. The control unit is configured to actuate the first compliant finger and the second compliant fingers using the servo motor. The control unit in addition is configured to grip the object to be held using the first compliant finger and the second compliant fingers.

[0014] The control unit is further configured to analyse the gripping pressure required for delicate holding or firm holding of the object using the first variable stiffness mechanism and the second variable stiffness mechanism. The control unit is configured to move the object delicately held or firmly held by the first compliant finger and the second compliant fingers.

[0015] In an embodiment, the four-bar linkage of the device may include a first drive linkage. The first drive linkage may be configured between the first compliant finger and the servo motor for converting the rotational movement of the servo motor to the pivotal movement of the at least one first finger.

[0016] In an embodiment, the four-bar linkage of the device may include a second drive linkage. The second drive linkage may be configured between the first compliant finger and the second compliant fingers for pivotal movement of the second compliant fingers. The first compliant finger may move towards the second compliant fingers upon anti-clockwise rotation of the servo motor.

[0017] In the above embodiment, the second drive linkage may be configured between the first compliant finger and the second compliant fingers for pivotal movement of the second compliant fingers. The first compliant finger may move away from the second compliant fingers upon clockwise rotation of the servo motor.

[0018] In an embodiment, the first variable stiffness mechanism and the second variable stiffness mechanism when moved inwards towards each other may be configured for bending and dynamic gripping of the object. The object may be delicately held or firmly held confirming to the shape and size of the object by the first compliant finger and the second compliant fingers upon anti-clockwise rotation of the servo motor.

[0019] In an embodiment, the device may include one or more learning engines. The one or more learning engines may be communication with the control unit. The control unit may be configured for adjusting the gripping pressure and alignment conforming to the size and shape of the object. The object may be held between the first compliant finger and the second compliant fingers.

[0020] In an embodiment, the first compliant finger and the two or more second compliant fingers may include a single degree of freedom. The first compliant finger and the two or more second compliant fingers may be configured for gripping the object when moved inward and releases the grip around the object when moved outward.

[0021] In an embodiment, the device may include an interface unit. The interface unit may be in communication with the control unit. The control unit may be configured for allowing the user of the device to give inputs for desired operation of the device.

[0022] In an embodiment, the wrist portion of the device may be a self-locking wrist. The wrist portion may include a spring-loaded stud. The wrist portion may allow the device to self-lock in a plurality of orientations on the upper limb myoelectric prosthesis.

[0023] In an embodiment, the device may be made of PA- 12 Nylon material. The device may withstand impact upon accidental drop on the ground without sustaining damage.

[0024] Various objects, features, aspects, and advantages of the subject matter will become more apparent from the following detailed description of preferred embodiments, along with the accompanying drawing figures in which like numerals represent like components.BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. The diagrams are for illustration only, which thus is not a limitation of the present disclosure.

[0026] FIG. 1 illustrates a schematic view of a myoelectric prosthetic device, in accordance with embodiments of the present disclosure.

[0027] FIG. 2A illustrates a schematic view of the proposed device holding, in accordance with embodiments of the present disclosure.

[0028] FIG. 2B illustrates a schematic view of the proposed device releasing the object held between the fingers, in accordance with embodiments of the present disclosure.

[0029] FIG. 3 illustrates a schematic view of the proposed device holding comprising a spring-loaded stud for self-locking on the upper limb of the user, in accordance with embodiments of the present disclosure.DETAILED DESCRIPTION

[0030] For the purpose of promoting an understanding of the principles of the present disclosure, reference will now be made to the various embodiments and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the present disclosure is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the present disclosure as illustrated therein being contemplated as would normally occur to one skilled in the art to which the present disclosure relates.

[0031] It will be understood by those skilled in the art that the foregoing general description and the following detailed description are explanatory of the present disclosure and are not intended to be restrictive thereof.

[0032] Whether or not a certain feature or element was limited to being used only once, it may still be referred to as “one or more features” or “one or more elements” or “at least one feature” or “at least one element.” Furthermore, the use of the terms “one or more” or “at least one” feature or element do not preclude there being none of that feature or element, unless otherwise specified by limiting language including, but not limited to, “there needs to be one or more. . . ” or “one or more elements is required.

[0033] Reference is made herein to some “embodiments.” It should be understood that an embodiment is an example of a possible implementation of any features and / or elements of the present disclosure. Some embodiments have been described for the purpose of explaining one or more of the potential ways in which the specific features and / or elements of the proposed disclosure fulfil the requirements of uniqueness, utility, and non-obviousness.

[0034] Use of the phrases and / or terms including, but not limited to, “a first embodiment,” “a further embodiment,” “an alternate embodiment,” “one embodiment,” “anembodiment,” “multiple embodiments,” “some embodiments,” “other embodiments,” “further embodiment”, “furthermore embodiment”, “additional embodiment” or other variants thereof do not necessarily refer to the same embodiments. Unless otherwise specified, one or more particular features and / or elements described in connection with one or more embodiments may be found in one embodiment, or may be found in more than one embodiment, or may be found in all embodiments, or may be found in no embodiments. Although one or more features and / or elements may be described herein in the context of only a single embodiment, or in the context of more than one embodiment, or in the context of all embodiments, the features and / or elements may instead be provided separately or in any appropriate combination or not at all. Conversely, any features and / or elements described in the context of separate embodiments may alternatively be realized as existing together in the context of a single embodiment.

[0035] Any particular and all details set forth herein are used in the context of some embodiments and therefore should not necessarily be taken as limiting factors to the proposed disclosure. The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such process or method. Similarly, one or more devices or sub-systems or elements or structures or components proceeded by “comprises... a” does not, without more constraints, preclude the existence of other devices or other sub-systems or other elements or other structures or other components or additional devices or additional sub-systems or additional elements or additional structures or additional components.

[0036] Embodiments explained herein relate to a simple, compact, and efficient uni-body terminal device for an upper limb myoelectric prosthesis.

[0037] According to an aspect, a uni-body terminal device is removably assembled on an existing upper limb myoelectric prosthesis of the user. The uni-body terminal device is manufactured using 3D printing technology using a PA- 12 Nylon material such that the terminal device withstands impact when accidentally dropped on the ground without sustaining damage.

[0038] The terminal device includes a wrist portion that enables the terminal device to be assembled on the upper limb myoelectric prosthesis. The uni-body terminal device additionally includes a first compliant finger having a first variable stiffness mechanism and second compliant fingers having a second variable stiffness mechanism on the wrist portion to firmly grip on an object upon actuation by a servo motor.

[0039] The terminal device receives signals from myoelectric sensors of the upper limb myoelectric prosthesis upon sensing the electrical impulses generated by the muscles of the upper limb of the user such that a control unit equipped with a learning engine of the terminal device actuates the first variable stiffness mechanism, the second variable stiffness mechanism, and the servo motor for griping the object.

[0040] The terminal device further includes a four-bar linkage coupled to the first compliant finger, the second compliant fingers, and the servo motor for transferring the rotational movement of the servo motor to the pivotal movement of the first compliant finger and the second compliant fingers for establishing a gripping conforming to the shape of the object being held.

[0041] The uni -body terminal device has significantly reduced the number of joints and potential failure points without comprising its efficient functioning. Using durable, impactresistant materials crafted through advanced 3D printing techniques ensures that the myoelectric prosthetic device can withstand accidental drops, bumps, and scrapes without compromising structural integrity or functionality. The terminal device's uni-body design, crafted from durable composite materials, is optimized for resilience and lightweight functionality. This seamless construction minimizes mechanical failures and enhances user comfort, making the prosthesis feel like a natural extension of the user’s body. For Example, consider a user wearing the terminal device is navigating through a crowded market. The terminal device when accidentally dropped or collided against any hard surface can withstand the accidental impacts and stresses without compromising performance or comfort, ensuring reliability and confidence in all settings.

[0042] The terminal device features compliant fingers which can automatically adapt to the shape and size of the objects they are gripping. Each compliant finger of the terminal device is designed to articulate around objects with a natural and adaptive grip despite the single degree of motion which is simply opening and closing. The fingers adjust their form to securely grasp objects of varying shapes and sizes, enabling effective handling without complex control systems. For Example, when the user attempts to pick up a fragile ceramic bowl, the compliant fingers of the terminal device gently conform to the shape of the bowl, providing a secure grip that prevents slipping, all without the need for manual adjustments.

[0043] Moreover, the adaptability of the terminal device is enhanced by the first variable stiffness mechanism and the second variable stiffness mechanism to adjust the firmness of the grip through simple myoelectric controls tailored for both delicate tasks and those requiring a firm hold, accommodating a wide range of activities with a single adjustment. For Example,the user preparing dinner might need to switch between holding delicate vegetables and gripping sturdy cooking utensils. The terminal device allows the user to modify the grip strength appropriately, ensuring safe and efficient handling regardless of the task.

[0044] The adaptive grip control in the myoelectric prosthetic device utilizes intelligent algorithms to automatically adjust the pressure and alignment of the grip according to the object being held. This capability is crucial for a prosthesis with a single motion degree, as it maximizes functionality and user autonomy. For Example, ther user lifting a thin book or a thick folder will find that the terminal device automatically adjusts its grip for optimal hold, ensuring that the items are secure without requiring the user to focus on adjusting the grip manually. The terminal device is designed with a user-friendly interface that utilizes standard myoelectric signals for control. This allows users to operate the prosthesis using natural muscle movements, making the learning curve much less steep. The terminal device’s design focuses on simplicity and practicality, ensuring that the terminal device can be used effectively by the user.

[0045] Referring to FIGs. 1 to 3, a uni -body terminal device (hereinafter referred as “terminal device 100” or “device 100”) for an upper limb myoelectric prosthesis is disclosed. The terminal device 100 can be made of PA- 12 Nylon material to withstand impact upon accidental drop on the ground without sustaining damage. The terminal device 100 can be assembled on a user’s upper limb myoelectric prosthesis 200 such that when one or more myoelectric sensors of the upper limb myoelectric prosthesis 200 can send signals to the terminal device 100, upon sensing the electrical signals generated by muscles of the user, the terminal device 100 can grip and move the object 300.

[0046] In an embodiment, the terminal device 100 can include a wrist portion 102. The wrist portion 102 can enable the terminal device 100 to be implanted on the upper limb myoelectric prosthesis 200. The wrist portion 102 can be a self-locking wrist which can include a spring -loaded stud 122. The self-locking wrist can position the upper arm 100 over a upper limb 200 of the user using the spring-loaded stud 122 which allows the device 100 to self-lock in a plurality of orientations on the upper limb 200 of the user. The plurality of orientations can be thirty-five orientations, which can also enable the upper arm 100 to rotate about 360 degrees.

[0047] The device 100 can include at least one first compliant finger 104 having a first variable stiffness mechanism. The first compliant finger 104 can be included on the wrist portion 102 to firmly grip on an object 300 upon actuation of the servo motor such that the actuation of servo motor 110 can generate the desired gripping pressure for the first variablestiffness mechanism required to firmly hold the object 300. The first compliant finger 104 can have a single degree of freedom. The first compliant finger 104 can be configured for gripping the object 300 when moved inward and releases the grip around the object 300 when moved outward. The first compliant finger 104 can provide adaptive grip strength, flexibility, and allows for manipulating objects of varying shapes and sizes.

[0048] The upper arm 100 can include two or more second compliant fingers 106-A, 106- B. The two or more second compliant fingers 106-A, 106-B having a second variable stiffness mechanism for each of the second compliant fingers 106-A, 106-B are configured on the wrist portion 102 to firmly grip on the object 300 upon actuation. The two or more second compliant fingers 106-A, 106-B have a single degree of freedom for gripping the object 300 when moved inward towards the first compliant finger 104 and release the grip around the object 300 when moved outward away from the first compliant finger 104.

[0049] The device 100 includes at least one servo motor 110. The servo motor 110 can be configured within the wrist portion 102 to rotate a gear mechanism or cam mechanism upon actuation receiving signals from the control unit 112. The first compliant finger 104 and the second compliant fingers 106-A, 106-B. The response time of the servo motor 110 can enable the user of the device 100 to experience quick response from the device 100 upon controlling movements with customization options for user preferences and needs. The myoelectric sensors of the upper limb myoelectric prosthesis 200 can be sensitive and accurate such that the response time for communication signals for actuation of the servo motor 110 is less. The response time of the myoelectric sensors 108 and the servo motor 110 can enable the user of the device 100 to experience quick response from the device 100 upon controlling movements with customization options for user preferences and needs.

[0050] The device 100 includes a four-bar linkage. The four-bar linkage can be coupled to the at least one first compliant finger 104, the two or more second compliant fingers 106- A, 106-B, and at least one servo motor 110 for transferring the rotational movement of the servo motor 110 to the pivotal movement of the first compliant finger 104 and the second compliant fingers 106-A, 106-B. The four-bar linkage can include a first drive linkage 114 which can be configured between the first compliant finger 104 and the servo motor 110 for converting the rotational movement of the servo motor 110 to the pivotal movement of the at least one first finger 104. In addition, the four-bar linkage can include a second drive linkage 116. The second drive linkage 116 can be configured between the first compliant finger 104 and the second compliant fingers 106-A, 106-B for pivotal movement of the second compliant fingers 106-A, 106-B when the first compliant finger 104 moves towards thesecond compliant fingers 106-A, 106-B upon anti-clockwise rotation of the servo motor 110, and the pivotal movement of the second compliant fingers 106-A, 106-B when the first compliant finger 104 moves away from the second compliant fingers 106-A, 106-B upon clockwise rotation of the servo motor 110, such that the at least first compliant finger 104 and two or more second compliant fingers 106-A, 106-B are configured for gripping conforming to the shape of the object 300 being held therewithin.

[0051] The device 100 can include a control unit 112 can be in communication with the servo motor 110, the first compliant finger 104, and the second compliant fingers 106-A, 106-B. The control unit 112 of the device 100 can be configured to receive electrical signals from the muscles of the user using myoelectric sensors of the upper limb myoelectric prosthesis 200 or manually from the user of the device 100. The control unit 112 can be configured to actuate the first compliant finger 104 and the second compliant fingers 106-A, 106-B using the servo motor 110. The control unit 112 in addition can be configured to grip the object 300 to be held using the first compliant finger 104 and the second compliant fingers 106-A, 106-B. The control unit further be configured to analyse the gripping pressure required for delicate holding or firm holding of the object 300 using the first variable stiffness mechanism and the second variable stiffness mechanism. The control unit 112 can move the object 300 delicately held or firmly held by the first compliant finger 104 and the second compliant fingers 106-A, 106-B.

[0052] The device 100 can include one or more learning engines 118. The learning engines 118 can be in communication with the control unit 112 for adjusting the gripping pressure and alignment according to the size and shape of the object 300 which is to be held by the first compliant finger 104 and the second compliant fingers 106-A, 106-B. The control unit 112 for adaptive grip control of the device 100 can utilize one or more learning engines to analyse and adjust the gripping pressure and alignment of the grip according to the object being held thereby maximizing the functionality and user autonomy.

[0053] The device 100 can include an interface unit 120. The interface unit 120 can be in communication with the control unit 112. The interface unit 120 can be configured to allow the user of the device 100 to give inputs for the desired operation of the device 100. The interface unit 120 may include the intuitiveness of control interfaces (e.g., buttons, gestures), feedback mechanisms (e.g., visual, auditory, haptic feedback), and customization options for user preferences.

[0054] While the foregoing describes various embodiments of the invention, other and further embodiments of the invention may be devised without departing from the basic scopethereof. The scope of the invention is determined by the claims that follow. The invention is not limited to the described embodiments, versions, or examples, which are included to enable a person having ordinary skill in the art to make and use the invention when combined with information and knowledge available to the person having ordinary skill in the art. ADVANTAGES OF THE INVENTION

[0055] The present disclosure provides a simple, compact, efficient, and cost-efficient uni-body terminal device for an upper limb myoelectric prosthesis.

[0056] The present disclosure manufactures the uni-body terminal device using advanced 3D printing technology.

[0057] The present disclosure provides has a lightweight uni-body terminal device with reduced number of moving parts for prolonged usage by the user.

[0058] The present disclosure provides the terminal device to withstand impact upon accidental drop on the ground without sustaining damage.

Claims

1. We Claim:

1. A uni-body terminal device for a upper limb myoelectric prosthesis, the device (100) for being detachably configured on an upper limb myoelectric prosthesis (200) of a user, the device (100) comprising: a wrist portion (102) operatively coupled to the upper limb myoelectric prosthesis (200) of the user, and is configured for supporting the device (100) on the upper limb myoelectric prosthesis (200); at least one first compliant finger (104) with a first variable stiffness mechanism is configured on the wrist portion (102) to facilitate gripping an object (300) upon actuation; two or more second compliant fingers (106-A, 106-B), each second compliant finger (106-A, 106-B) comprising at least one phalange (1O6-A1,1O6-B1) with a second variable stiffness mechanism configured on the wrist portion (102) parallel to the first compliant finger (104) to facilitate gripping the object (300) upon actuation; at least one servo motor (110) configured within the terminal device (100) to rotate upon actuation; a four-bar linkage coupled to the at least one first compliant finger (104), the two or more second compliant fingers (106-A, 106-B) and at least one servo motor (110) for transferring the rotational movement of the servo motor (110) to the pivotal movement of the first compliant finger (104) and the second compliant fingers (106- A, 106-B); and a control unit (112) in communication with the first compliant finger (104), the second compliant fingers (106-A, 106-B), and the servo motor (110) is configured to: receive electrical signals from the muscles of the user using myoelectric sensors of the upper limb myoelectric prosthesis (200) or manually from the user of the device (100). actuate the first compliant finger (104) and the second compliant fingers (106-A, 106-B) using the servo motor (110); grip the object (300) to be held using the first compliant finger (104) and the second compliant fingers (106-A, 106-B); and analyse the gripping pressure required for delicate holding or firm holding of the object (300) using the first variable stiffness mechanism and the second variable stiffness mechanism; andmove the object (300) delicately held or firmly held by the first compliant finger (104) and the second compliant fingers (106-A, 106-B).

2. The device (100) as claimed in claim 1, wherein the four-bar linkage of the device (100) comprises a first drive linkage (114) configured between the first compliant finger (104) and the servo motor (110) for converting the rotational movement of the servo motor (110) to the pivotal movement of the at least one first finger (104).

3. The device (100) as claimed in claim 1, wherein the four-bar linkage of the device (100) comprises a second drive linkage (116) configured between the first compliant finger (104) and the second compliant fingers (106-A, 106-B) for pivotal movement of the second compliant fingers (106-A, 106-B) when the first compliant finger (104) moves towards the second compliant fingers (106-A, 106-B) upon anti-clockwise rotation of the servo motor (110),4. The device (100) as claimed in claim 3, wherein the second drive linkage (116) configured between the first compliant finger (104) and the second compliant fingers (106-A, 106-B) for pivotal movement of the second compliant fingers (106-A, 106-B) when the first compliant finger (104) moves away from the second compliant fingers (106-A, 106-B) upon clockwise rotation of the servo motor (110).

5. The device (100) as claimed in claim 1, wherein the first variable stiffness mechanism and the second variable stiffness mechanism when moved inwards towards each other are configured for bending and dynamic gripping such that the object (300) is delicately held or firmly held confirming to the shape and size of the object (300) by the first compliant finger (104) and the second compliant fingers (106-A, 106-B) upon anti -clockwise rotation of the servo motor (110).

6. The device (100) as claimed in claim 1, wherein the device (100) comprises one or more learning engines (118) in communication with the control unit (112) configured for adjusting the gripping pressure and alignment conforming to the size and shape of the object (300) being held between the first compliant finger (104) and the second compliant fingers (106-A, 106-B).

7. The device (100) as claimed in claim 1, wherein the first compliant finger (104) and the two or more second compliant fingers (106-A, 106-B) comprises a single degree of freedom such that first compliant finger (104) and the two or more second compliant fingers (106-A, 106-B) are configured for gripping the object (300) when moved inward and releases the grip around the object (300) when moved outward.

8. The device (100) as claimed in claim 1, wherein the device (100) comprises an interface unit (120) in communication with the control unit (112) is configured for allowing the user of the device (100) to give inputs for desired operation of the device (100).

9. The device (100) as claimed in claim 1, wherein the wrist portion (102) of the device(100) is a self-locking wrist comprising a spring-loaded stud (122) such that the wrist portion (102) allows the device (100) to self-lock in a plurality of orientations on the upper limb myoelectric prosthesis (200).

10. The device (100) as claimed in claim 1, wherein the device (100) is made of PA-12 Nylon material such that the device (100) withstands impact upon accidental drop on the ground without sustaining damage.

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