Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design
Current research of designing prosthetic robotic hands mainly focuses on improving their functionality by devising new mechanical structures and actuation systems. Most of existing work relies on a single structure/system (e.g., bone-only or tissue-only) and ignores the fact that the human hand is c...
| Main Authors: | , , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/161001 |
| _version_ | 1826112024069799936 |
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| author | Tian, Li Zheng, Jianmin Cai, Yiyu Muhammad Faaiz Khan Abdul Halil Thalmann, Nadia Magnenat Thalmann, Daniel Li, Hanhui |
| author2 | School of Computer Science and Engineering |
| author_facet | School of Computer Science and Engineering Tian, Li Zheng, Jianmin Cai, Yiyu Muhammad Faaiz Khan Abdul Halil Thalmann, Nadia Magnenat Thalmann, Daniel Li, Hanhui |
| author_sort | Tian, Li |
| collection | NTU |
| description | Current research of designing prosthetic robotic hands mainly focuses on improving their functionality by devising new mechanical structures and actuation systems. Most of existing work relies on a single structure/system (e.g., bone-only or tissue-only) and ignores the fact that the human hand is composed of multiple functional structures (e.g., skin, bones, muscles, and tendons). This may increase the difficulty of the design process and lower the flexibility of the fabricated hand. To tackle this problem, this paper proposes a three-dimensional (3D) printable multi-layer design that models the hand with the layers of skin, tissues, and bones. The proposed design first obtains the 3D surface model of a target hand via 3D scanning, and then generates the 3D bone models from the surface model based on a fast template matching method. To overcome the disadvantage of the rigid bone layer in deformation, the tissue layer is introduced and represented by a concentric tube-based structure, of which the deformability can be explicitly controlled by a parameter. The experimental results show that the proposed design outperforms previous designs remarkably. With the proposed design, prosthetic robotic hands can be produced quickly with low cost and be customizable and deformable. |
| first_indexed | 2024-10-01T03:00:10Z |
| format | Journal Article |
| id | ntu-10356/161001 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:00:10Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1610012022-08-13T20:11:29Z Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design Tian, Li Zheng, Jianmin Cai, Yiyu Muhammad Faaiz Khan Abdul Halil Thalmann, Nadia Magnenat Thalmann, Daniel Li, Hanhui School of Computer Science and Engineering School of Mechanical and Aerospace Engineering School of Electrical and Electronic Engineering Institute for Media Innovation (IMI) Engineering::Computer science and engineering Prosthetic Hand Soft Materials 3D Printing Current research of designing prosthetic robotic hands mainly focuses on improving their functionality by devising new mechanical structures and actuation systems. Most of existing work relies on a single structure/system (e.g., bone-only or tissue-only) and ignores the fact that the human hand is composed of multiple functional structures (e.g., skin, bones, muscles, and tendons). This may increase the difficulty of the design process and lower the flexibility of the fabricated hand. To tackle this problem, this paper proposes a three-dimensional (3D) printable multi-layer design that models the hand with the layers of skin, tissues, and bones. The proposed design first obtains the 3D surface model of a target hand via 3D scanning, and then generates the 3D bone models from the surface model based on a fast template matching method. To overcome the disadvantage of the rigid bone layer in deformation, the tissue layer is introduced and represented by a concentric tube-based structure, of which the deformability can be explicitly controlled by a parameter. The experimental results show that the proposed design outperforms previous designs remarkably. With the proposed design, prosthetic robotic hands can be produced quickly with low cost and be customizable and deformable. National Research Foundation (NRF) Published version This research is supported by the National Research Foundation, Singapore under its International Research Centres in Singapore Funding Initiative, and Institute for Media Innovation, Nanyang Technological University (IMI-NTU). 2022-08-11T05:58:12Z 2022-08-11T05:58:12Z 2022 Journal Article Tian, L., Zheng, J., Cai, Y., Muhammad Faaiz Khan Abdul Halil, Thalmann, N. M., Thalmann, D. & Li, H. (2022). Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design. International Journal of Bioprinting, 8(1), 406-. https://dx.doi.org/10.18063/ijb.v8i1.406 2424-8002 https://hdl.handle.net/10356/161001 10.18063/ijb.v8i1.406 35187272 1 8 406 en International Journal of Bioprinting © 2021 Author(s). This is an Open Access article distributed under the terms of the Creative Commons Attribution License, permitting distribution and reproduction in any medium, provided the original work is properly cited. application/pdf |
| spellingShingle | Engineering::Computer science and engineering Prosthetic Hand Soft Materials 3D Printing Tian, Li Zheng, Jianmin Cai, Yiyu Muhammad Faaiz Khan Abdul Halil Thalmann, Nadia Magnenat Thalmann, Daniel Li, Hanhui Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design |
| title | Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design |
| title_full | Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design |
| title_fullStr | Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design |
| title_full_unstemmed | Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design |
| title_short | Fast 3D modeling of prosthetic robotic hands based on a multi-layer deformable design |
| title_sort | fast 3d modeling of prosthetic robotic hands based on a multi layer deformable design |
| topic | Engineering::Computer science and engineering Prosthetic Hand Soft Materials 3D Printing |
| url | https://hdl.handle.net/10356/161001 |
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