TY - GEN
T1 - A prosthetic hand with self-adaptive fingers
AU - Gopura, R. A.R.C.
AU - Bandara, D. S.V.
AU - Gunasekera, N. P.A.
AU - Hapuarachchi, V. H.
AU - Ariyarathna, B. S.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/7
Y1 - 2017/6/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85022329815&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85022329815&partnerID=8YFLogxK
U2 - 10.1109/ICCAR.2017.7942701
DO - 10.1109/ICCAR.2017.7942701
M3 - Conference contribution
AN - SCOPUS:85022329815
T3 - 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
SP - 269
EP - 274
BT - 2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Y2 - 22 April 2017 through 24 April 2017
ER -