Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics

Omarkulov, Nurdos; Telegenov, Kuat; Zeinullin, Maralbek; Begalinova, Ainur; Shintemirov, Almas

doi:10.1109/embc.2015.7318895

Cited by 18 publications

(8 citation statements)

References 13 publications

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Section: One-dof Mechanismsmentioning

confidence: 99%

“…The coupling of two four-bar linkages has been also discussed in [19,20] using 3 phalanges, 5 links and 7 joints. About the finger [19], a first iteration of a five-fingered hand 3D printed prototype was developed. A slightly more complex embodiment [21] has been proposed that features 3 phalanges, 20 links, 28 joints as shown in the third row of Table 1.…”

Section: One-dof Mechanismsmentioning

confidence: 99%

“…Mechanism Notes [14][15][16] [14] [16] One crossed FBL [17,18] [17] [18] Quite similar leverages [19][20][21] [20]…”

Section: Referencementioning

confidence: 99%

“…The proximal ring 112 is configured to be anchored onto the proximal phalanx. It also presents a thinner version with only 3 elements and two cage rings to retain the distal [18] Quite similar leverages [19][20][21] Robotics 2020, 9, 80 5 of 30 H, I and K. They actuate the ratchet L which in turn lifts the lever G and allows the second phalanx to rotate relative to the first one. As the second joint is flexed, it operates the lever O obtaining the bending motion of the third joint.…”

Section: Two Coupled Fblmentioning

confidence: 99%

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Advances in Finger and Partial Hand Prosthetic Mechanisms

et al. 2020

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Approximately 70% of the upper extremity amputations refers to partial hand loss with the involvement of one or more fingers. Historically, this type of limb amputation has been addressed adopting simple opposition designs that use the movement of the residual digit for grasping against a fixed device. Nevertheless, in the last few years, technological advances, and the introduction of modern computer-aided tools for the synthesis and functional design of mechanisms have led to the development of smaller, more robust systems that are constantly improving body-powered and electrically-powered prototypes. This paper surveys cutting-edge solutions proposed in research or available on the market for single finger or partial hand prostheses. First, the main design requirements are outlined. Then, a wide number of prototypes are detailed underlying advantages and drawbacks. The overall goal is to create a solid starting point for the study and development of the next generation of prostheses that can be developed to advance the current state-of-the-art.

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Section: One-dof Mechanismsmentioning

confidence: 99%

Section: One-dof Mechanismsmentioning

confidence: 99%

“…Mechanism Notes [14][15][16] [14] [16] One crossed FBL [17,18] [17] [18] Quite similar leverages [19][20][21] [20]…”

Section: Referencementioning

confidence: 99%

Section: Two Coupled Fblmentioning

confidence: 99%

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Advances in Finger and Partial Hand Prosthetic Mechanisms

et al. 2020

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“…19,20 Therefore, a linkage mechanism with springs for a finger mechanism was proposed by Licheng and Ceccarelli 21 and Shuangji et al 22 As linkage mechanism consists of rigid links and transmission gears, it is more convenient for applications where large grasping forces are required, and the finger and hand kinematics can be easily modeled and solved as a standard kinematics problem for control purposes. 23 Figure 1 shows the schematic diagram of the UA mechanism the 3D model of the UA finger and its prototype produced by three-dimensional (3D) printer. The novel UA finger mainly consists of four bars, a base, and a torsion spring.…”

Section: Structure Of Ua Fingermentioning

confidence: 99%

A novel under-actuated bionic hand and its grasping stability analysis

Huang

Zhu

et al. 2017

Advances in Mechanical Engineering

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This article presents a novel under-actuated robot hand, which has a thumb and two cooperative fingers. The thumb has two joints with 2 degrees of freedom driven by one motor. Each of the other two fingers has the same mechanism structure with the thumb and forms a cooperative mechanism, which is driven by only one motor with 4 degrees of freedom in total. All the under-actuated fingers are designed with the transmission mechanisms based on a kind of mechanism combined with the linkage mechanism and the passive elements. In this article, it is shown that under-actuated hand is able to reproduce most of the grasping behaviors of the human hand anthropomorphically and self-adaptively, without increasing the complexity of mechanism and control. The grasping stability analysis is given to help to understand the size range and load range of a stable grasp. Finally, the experiment results verify the high efficiency and stability of the novel mechanism.

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