A light weight compliant hand mechanism with high degrees of freedom

Jason Potratz; Jingzhou Yang; Karim Abdel-Malek; Esteban Peña Pitarch; Nicole Grosland

doi:10.1115/1.2052805

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A light weight compliant hand mechanism with high degrees of freedom

Journal article

Peer reviewed

A light weight compliant hand mechanism with high degrees of freedom

Jason Potratz, Jingzhou Yang, Karim Abdel-Malek, Esteban Peña Pitarch and Nicole Grosland

Journal of biomechanical engineering, Vol.127(6), pp.934-945

11/2005

DOI: 10.1115/1.2052805

PMID: 16438230

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Abstract

This paper presents the design and prototyping of an inherently compliant lightweight hand mechanism. The hand mechanism itself has 15 degrees of freedom and five fingers. Although the degrees of freedom in each finger are coupled, reducing the number of independent degrees of freedom to 5, the 15 degrees of freedom of the hand could potentially be individually actuated. Each joint consists of a novel flexing mechanism that is based on the loading of a compression spring in the axial and transverse direction via a cable and conduit system. Currently, a bench top version of the prototype is being developed; the three joints of each finger are coupled together to simplify the control system. The current control scheme under investigation simulates a control scheme where myoelectric signals in the wrist flexor and extensor muscles are converted in to x and y coordinates on a control scheme chart. Static load-deformation analysis of finger segments is studied based on a 3-dimensional model without taking the stiffener into account, and the experiment validates the simulation.

Biomimetics - methods

Humans

Elasticity

Stress, Mechanical

Robotics - instrumentation

Equipment Design

Feasibility Studies

Biomimetics - instrumentation

Pilot Projects

Models, Biological

Computer Simulation

Robotics - methods

Finger Joint - physiology

Hand - physiology

Hand Strength - physiology

Equipment Failure Analysis

Details

Title: Subtitle: A light weight compliant hand mechanism with high degrees of freedom
Creators: Jason Potratz - Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design, The University of Iowa, 111 Engineering Research Facility, Iowa City, IA 52242-1000, USA
Jingzhou Yang
Karim Abdel-Malek
Esteban Peña Pitarch
Nicole Grosland
Resource Type: Journal article
Publication Details: Journal of biomechanical engineering, Vol.127(6), pp.934-945
DOI: 10.1115/1.2052805
PMID: 16438230
NLM abbreviation: J Biomech Eng
ISSN: 0148-0731
eISSN: 1528-8951
Publisher: United States
Language: English
Date published: 11/2005
Academic Unit: Roy J. Carver Department of Biomedical Engineering; Orthopedics and Rehabilitation; Injury Prevention Research Center; Mechanical Engineering
Record Identifier: 9984040443402771

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