Conference proceeding
Design and Analysis of an Inherently-Compliant Light-Weight Active Hand Prosthesis
Volume 5: 27th Biennial Mechanisms and Robotics Conference, Vol.5, pp.833-841
ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, Sept. 29 - Oct. 02, 2002
01/01/2002
DOI: 10.1115/DETC2002/MECH-34297
Abstract
Design and prototyping of an Inherently cOmpliant light-Weight Active hand prosthesis (called the IOWA hand) is presented. The hand has five 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 far from the arm (e.g., on a belt around the waist). The forward kinematics of the mechanism is also presented and lends itself well for computer control. It is shown that the solution of the transverse deflection of each finger segment is obtained in a general form, while the stiffness coefficients are obtained in closed form with small deflection angles and for the large angles we use FEM to solve it. A prototype finger is experimentally tested, the results verified, and the hand prosthesis is built.
Details
- Title: Subtitle
- Design and Analysis of an Inherently-Compliant Light-Weight Active Hand Prosthesis
- Creators
- Jingzhou Yang - University of IowaKarim Abdel-Malek - University of IowaD DeGraff - University of IowaE Pen˜a Pitarch - AV Bases de Manresa, Manresa, Spain
- Resource Type
- Conference proceeding
- Publication Details
- Volume 5: 27th Biennial Mechanisms and Robotics Conference, Vol.5, pp.833-841
- Conference
- ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, Sept. 29 - Oct. 02, 2002
- DOI
- 10.1115/DETC2002/MECH-34297
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2002
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984196549602771
Metrics
10 Record Views