A prosthetic hand with self-adaptive fingers

R. A.R.C. Gopura, D. S.V. Bandara, N. P.A. Gunasekera, V. H. Hapuarachchi, B. S. Ariyarathna

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Prosthetic hand is an artificial device which replaces the missing hand of an amputee. In this research, a multi-functional prosthetic hand with self-adaptation ability is proposed. The prosthetic hand enables user to grasp different objects by performing cylindrical grasp, hook grasp, lateral pinch and tip pinch and palmar pinch. Finger mechanism of the proposed prosthesis is capable of generating passively different flexion/extension angles for a proximal interphalangeal (PIP) joint and a distal interphalangeal (DIP) joint for each flexion angle of metacarpophalangeal (MCP) joint. In addition, DIP joint is capable of generating passively different angles for the same angle of PIP joint. The design includes thumb opposition/apposition in addition to its flexion/extension. Finger has an under-actuation mechanism using one actuator to drive all proximal, middle and distal phalanxes. Kinematic analysis of the finger has been carried out to verify the required range of motions of the joints. Simulations and experiments verify the effectiveness of the proposed hand prosthesis.

Original languageEnglish
Title of host publication2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages269-274
Number of pages6
ISBN (Electronic)9781509060870
DOIs
Publication statusPublished - Jun 7 2017
Externally publishedYes
Event3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japan
Duration: Apr 22 2017Apr 24 2017

Publication series

Name2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017

Conference

Conference3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Country/TerritoryJapan
CityNagoya
Period4/22/174/24/17

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Control and Systems Engineering

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