1. A novel design method of anthropomorphic prosthetic hands for reproducing human hand grasping
- Author
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Zhang Qiaofei, Wenrui Chen, Liu Mao, Caihua Xiong, Bai-Yang Sun, and Qin Zhang
- Subjects
Prosthetic hand ,Engineering ,Hand Strength ,Underactuation ,business.industry ,Movement ,GRASP ,Reproducibility of Results ,Artificial Limbs ,Transmission matrix ,Control engineering ,Hand ,Prosthesis Design ,Fingers ,Mechanism (engineering) ,Amputees ,Transmission (telecommunications) ,Hand strength ,Humans ,business ,Actuator ,Simulation - Abstract
Because hand is often used for grasping, developing a design of prosthetic hands, particularly light and compact underactuated anthropomorphic transradial prostheses for reproducing human hand complex grasping is crucial for upper-limb amputees. Obviously, the less the number of actuators is, the worse the anthropomorphic motion capability of the prosthetic hands will be. This paper aims to design a transmission mechanism with few motors actuating fingers which could serve the relatively accurate grasp movement of a human hand and has the potential to be embedded in a palm including the motors. We start with establishing an index for evaluating the anthropomorphic motion capability of a prosthetic hand. Based on the optimization of this index, we determine the number of actuators in fingers and the transmission relationship between the actuators and the metacarpophalangeal(MCP) joints. Then, a new design method to mechanically implement the transmission relationship based on a novel decomposition of transmission matrix is proposed in this paper. Utilizing this method, we obtained the final mechanical structure of a new prosthetic hand.
- Published
- 2014