Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand
To realize the adaptive grasping of objects with diverse shapes and to capture the joint angles of the finger, a multi degree of freedom (DOF) adaptive finger for prosthetic hand is proposed in this paper. The fingers are designed with three joints. The maximum rotation angle of the finger joints is...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-12-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/12/1/33 |
| _version_ | 1797543124153663488 |
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| author | Changcheng Wu Tianci Song Zilong Wu Qingqing Cao Fei Fei Dehua Yang Baoguo Xu Aiguo Song |
| author_facet | Changcheng Wu Tianci Song Zilong Wu Qingqing Cao Fei Fei Dehua Yang Baoguo Xu Aiguo Song |
| author_sort | Changcheng Wu |
| collection | DOAJ |
| description | To realize the adaptive grasping of objects with diverse shapes and to capture the joint angles of the finger, a multi degree of freedom (DOF) adaptive finger for prosthetic hand is proposed in this paper. The fingers are designed with three joints. The maximum rotation angle of the finger joints is 90°. The angle at which the finger joints bend can be captured. Firstly, the prototype design, forward kinematics and force analysis of phalanges are described in detail. In order to achieve an adaptive motion pattern similar to that of the human hand, this paper investigates the optimization of the torsion spring stiffness coefficient so that the metacarpophalangeal (MCP) joints, proximal interphalangeal (PIP) joints, and distal interphalangeal (DIP) joints of the bionic finger meet a motion ratio of approximately 3:3:1. Then, in order to realize the joint angle measurement in the process of grasping an object, the mechanical-sensor integrated finger joint is designed, and the composition, angle measurement principle and measurement circuit are introduced in detail. Finally, joint angle measurement, movement law evaluation and object grasping experiments are performed to verify the validity of the designed finger. The experimental results show that the root-mean-square (RMS) of the DIP, PIP and MCP angle measurement errors are 0.36°, 0.59° and 0.32°, respectively. The designed finger is able to grasp objects with different shapes stably. |
| first_indexed | 2024-03-10T13:40:15Z |
| format | Article |
| id | doaj.art-f990642067a94bc384f4cc3de2e68872 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-10T13:40:15Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-f990642067a94bc384f4cc3de2e688722023-11-21T03:07:46ZengMDPI AGMicromachines2072-666X2020-12-011213310.3390/mi12010033Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic HandChangcheng Wu0Tianci Song1Zilong Wu2Qingqing Cao3Fei Fei4Dehua Yang5Baoguo Xu6Aiguo Song7College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, ChinaSchool of Aviation Engineering, Nanjing Vocational University of Industry Technology, Nanjing 210023, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaTo realize the adaptive grasping of objects with diverse shapes and to capture the joint angles of the finger, a multi degree of freedom (DOF) adaptive finger for prosthetic hand is proposed in this paper. The fingers are designed with three joints. The maximum rotation angle of the finger joints is 90°. The angle at which the finger joints bend can be captured. Firstly, the prototype design, forward kinematics and force analysis of phalanges are described in detail. In order to achieve an adaptive motion pattern similar to that of the human hand, this paper investigates the optimization of the torsion spring stiffness coefficient so that the metacarpophalangeal (MCP) joints, proximal interphalangeal (PIP) joints, and distal interphalangeal (DIP) joints of the bionic finger meet a motion ratio of approximately 3:3:1. Then, in order to realize the joint angle measurement in the process of grasping an object, the mechanical-sensor integrated finger joint is designed, and the composition, angle measurement principle and measurement circuit are introduced in detail. Finally, joint angle measurement, movement law evaluation and object grasping experiments are performed to verify the validity of the designed finger. The experimental results show that the root-mean-square (RMS) of the DIP, PIP and MCP angle measurement errors are 0.36°, 0.59° and 0.32°, respectively. The designed finger is able to grasp objects with different shapes stably.https://www.mdpi.com/2072-666X/12/1/33prosthetic handadaptive graspingjoint angle measurement |
| spellingShingle | Changcheng Wu Tianci Song Zilong Wu Qingqing Cao Fei Fei Dehua Yang Baoguo Xu Aiguo Song Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand Micromachines prosthetic hand adaptive grasping joint angle measurement |
| title | Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand |
| title_full | Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand |
| title_fullStr | Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand |
| title_full_unstemmed | Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand |
| title_short | Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand |
| title_sort | development and evaluation of an adaptive multi dof finger with mechanical sensor integrated for prosthetic hand |
| topic | prosthetic hand adaptive grasping joint angle measurement |
| url | https://www.mdpi.com/2072-666X/12/1/33 |
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