Journal article
A multi-fingered hand prosthesis
Mechanism and machine theory, Vol.39(6), pp.555-581
2004
DOI: 10.1016/j.mechmachtheory.2004.01.002
Abstract
Design and analysis of a multi-fingered 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 far from the arm (e.g., on a belt around the waist). The forward kinematics of the mechanism is presented. 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. A prototype finger is experimentally tested, results verified, and the hand prosthesis is built. This new design, while presents a low cost alternative, enables the actuation and control of a multi-fingered hand with relatively high degrees of freedom.
Details
- Title: Subtitle
- A multi-fingered hand prosthesis
- Creators
- Jingzhou Yang - Digital Humans Laboratory, Center for Computer-Aided Design, The University of Iowa, 116 Engineering Research Facility, Iowa City, IA 52242-1000, USAEsteban Peña Pitarch - Departament Enginyeria Mecanica, Universitat Politecnica De Catalvnya (UPC), Av. Bases de Manresa, 61–73, 08240 Manresa, SpainKarim Abdel-Malek - Digital Humans Laboratory, Center for Computer-Aided Design, The University of Iowa, 116 Engineering Research Facility, Iowa City, IA 52242-1000, USAAmos Patrick - Digital Humans Laboratory, Center for Computer-Aided Design, The University of Iowa, 116 Engineering Research Facility, Iowa City, IA 52242-1000, USALars Lindkvist - Machine and Vehicle Design, Chalmers University of Technology, Sweden
- Resource Type
- Journal article
- Publication Details
- Mechanism and machine theory, Vol.39(6), pp.555-581
- Publisher
- Elsevier Ltd
- DOI
- 10.1016/j.mechmachtheory.2004.01.002
- ISSN
- 0094-114X
- eISSN
- 1873-3999
- Language
- English
- Date published
- 2004
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064581502771
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