Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism
An anthropomorphic prosthetic hand for wrist or forearm amputees is developed herein. The prosthetic hand was designed with an underactuated mechanism, which makes self-adaptive grasping possible, as well as natural motions such as flexion and extension. The finger and thumb modules were designed wi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-06-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/12/4384 |
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| author | Wooseok Ryu Youngjin Choi Yong Je Choi Yeong Geol Lee Sungon Lee |
| author_facet | Wooseok Ryu Youngjin Choi Yong Je Choi Yeong Geol Lee Sungon Lee |
| author_sort | Wooseok Ryu |
| collection | DOAJ |
| description | An anthropomorphic prosthetic hand for wrist or forearm amputees is developed herein. The prosthetic hand was designed with an underactuated mechanism, which makes self-adaptive grasping possible, as well as natural motions such as flexion and extension. The finger and thumb modules were designed with four degrees of freedom by motions of the distal interphalangeal, proximal interphalangeal, and metacarpophalangeal joints. In this research, we pursued several novel trials in prosthetic hand design. By using two four-bar linkages composed of a combination of linkages and gears for coupling joints at each finger, it was possible to make a compact design, and the linkage has advantages such as accurate positioning, uniform power transmission, and high payload. Also, by using constant-velocity joints, torque is transferred to finger modules regardless of adduction/abduction motions. In addition, adduction/abduction and self-adaptive grasping motions are passively realized using torsional springs. The developed prosthetic hand was fabricated with a weight of 475 g and a human hand size of 175 mm. Experiments with diverse objects showed its good functionality. |
| first_indexed | 2024-03-10T18:53:43Z |
| format | Article |
| id | doaj.art-d777ec08d498496abbc1ef0c0ed310c1 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T18:53:43Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-d777ec08d498496abbc1ef0c0ed310c12023-11-20T04:59:09ZengMDPI AGApplied Sciences2076-34172020-06-011012438410.3390/app10124384Development of an Anthropomorphic Prosthetic Hand with Underactuated MechanismWooseok Ryu0Youngjin Choi1Yong Je Choi2Yeong Geol Lee3Sungon Lee4Department of Mechanical Engineering, Yonsei University, Seoul 03722, KoreaSchool of Electrical and Engineering, Hanyang University, Ansan 15588, KoreaDepartment of Mechanical Engineering, Yonsei University, Seoul 03722, KoreaDepartment of Mechanical Engineering, Yonsei University, Seoul 03722, KoreaSchool of Electrical and Engineering, Hanyang University, Ansan 15588, KoreaAn anthropomorphic prosthetic hand for wrist or forearm amputees is developed herein. The prosthetic hand was designed with an underactuated mechanism, which makes self-adaptive grasping possible, as well as natural motions such as flexion and extension. The finger and thumb modules were designed with four degrees of freedom by motions of the distal interphalangeal, proximal interphalangeal, and metacarpophalangeal joints. In this research, we pursued several novel trials in prosthetic hand design. By using two four-bar linkages composed of a combination of linkages and gears for coupling joints at each finger, it was possible to make a compact design, and the linkage has advantages such as accurate positioning, uniform power transmission, and high payload. Also, by using constant-velocity joints, torque is transferred to finger modules regardless of adduction/abduction motions. In addition, adduction/abduction and self-adaptive grasping motions are passively realized using torsional springs. The developed prosthetic hand was fabricated with a weight of 475 g and a human hand size of 175 mm. Experiments with diverse objects showed its good functionality.https://www.mdpi.com/2076-3417/10/12/4384prosthetic handunderactuated mechanismself-adaptive graspingfour-bar linkage |
| spellingShingle | Wooseok Ryu Youngjin Choi Yong Je Choi Yeong Geol Lee Sungon Lee Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism Applied Sciences prosthetic hand underactuated mechanism self-adaptive grasping four-bar linkage |
| title | Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism |
| title_full | Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism |
| title_fullStr | Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism |
| title_full_unstemmed | Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism |
| title_short | Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism |
| title_sort | development of an anthropomorphic prosthetic hand with underactuated mechanism |
| topic | prosthetic hand underactuated mechanism self-adaptive grasping four-bar linkage |
| url | https://www.mdpi.com/2076-3417/10/12/4384 |
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