An Underactuated Mechanical Hand Prosthesys by Iftomm Italy

This paper describes a mechanical underactuated hand, whose design is under patenting. The proposed hand can be used as robot grasping end-effector and, mainly, as a human prosthesis. The proposed underactuated mechanism is based on an adaptive scheme, hence it permits to move five fingers with only one actuator. The actuator is connected to a set of pulleys that operate five tendons. Each tendon will move the phalanxes of a finger. The proposed mechanism permits each finger to adapt its configuration to almost any object shape so that each of the fingers will grasp the object independently on the configuration of the finger itself and independently on the configuration of the other fingers. The tendons are un-extendible so that each finger will grasp an object always with the same force, regardless of object shape. The overall grasping force will be controlled just by adjusting the input actuator torque. This paper also reports preliminary kinematic and dynamic studies aiming to a validation of the feasibility of the proposed design solution. Finally an early experimental prototype is shown.

並列關鍵字

robotic hand ； mechanical prosthesis ； underactuated systems kinematics and dynamics

被引用紀錄

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延伸閱讀

Li, J., & Tanaka, H. (2017). Strategy for Spreading Open Source of Complex Artifact - A Case Study of Electric Prosthetic Hand. 工業設計, (135), 5-10. https://www.airitilibrary.com/Article/Detail?DocID=20714963-201701-201703140012-201703140012-5-10
Chen, C. W., Lin, C. C. K., & Ju, M. S. (2009). Hand Orthosis Controlled Using Brain-computer Interface. Journal of Medical and Biological Engineering, 29(5), 234-241. https://www.airitilibrary.com/Article/Detail?DocID=16090985-200910-29-5-234-241-a
李勇璋、傅惠秀、鄧雅凌、楊國德、羅世忠、陳瓊玲（2022）。Design Improvement and Usability of a Dynamic Hand Orthosis for Persons with Stroke。臺灣職能治療研究與實務雜誌，18(1)，51-63。https://doi.org/10.6534/jtotrp.202206_18(1).0004
李昀熹（2006）。A New Mechanism Design for Non- Myoeletrical Controlled Prosthesis Hand〔碩士論文，國立臺北科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0006-1207200612225500
Antfolk, C., Balkenius, C., Lundborg, G., Rosén, B., & Sebelius, F. (2010). A Tactile Display System for Hand Prostheses to Discriminate Pressure and Individual Finger Localization. Journal of Medical and Biological Engineering, 30(6), 355-359. https://www.airitilibrary.com/Article/Detail?DocID=16090985-201012-201101150005-201101150005-355-359

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An Underactuated Mechanical Hand Prosthesys by Iftomm Italy

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