Conference proceeding
Design and Analysis of a Cable Actuated Hand Prosthesis
Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, Vol.2, pp.273-280
ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, Utah, USA, Sept. 28 - Oct. 02, 2004
01/01/2004
DOI: 10.1115/DETC2004-57108
Abstract
Design and analysis of a cable actuated hand prosthesis is presented. The hand has multi-actuated fingers, four with two joints, and the thumb with three joints. Each joint is designed using a novel flexible mechanism based on the loading of a compression spring in both transverse and axial directions and using cable-conduit systems. The rotational motion is transformed to tendon-like behavior, which enables the location of the actuators to be far from the arm (e.g., on a belt around the waist). It is shown that the solution of the transverse deflection of each finger segment is obtained in a general form through a Haringx model followed by an element stiffness model. Also, we use a FEM model (ANSYS) to visualize the deflection of one finger. A prototypic finger is experimentally tested, results are verified, and the hand prosthesis is built.
Details
- Title: Subtitle
- Design and Analysis of a Cable Actuated Hand Prosthesis
- Creators
- Jingzhou Yang - University of IowaKarim Abdel-Malek - University of IowaEsteban Pen˜a Pitarch - Technical University of Catalonia (UPC), Manresa, Spain
- Resource Type
- Conference proceeding
- Publication Details
- Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, Vol.2, pp.273-280
- Conference
- ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, Utah, USA, Sept. 28 - Oct. 02, 2004
- DOI
- 10.1115/DETC2004-57108
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2004
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984196621002771
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