Design of Multi-Grip Patterns Prosthetic Hand with Single Actuator

Wattanasiri, Panipat; Tangpornprasert, Pairat; Virulsri, Chanyaphan

doi:10.1109/tnsre.2018.2829152

Cited by 32 publications

(28 citation statements)

References 30 publications

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“…With the values obtained with our novel hand Grasp (Table 1), the device presented in this work represents an affordable (477.35 €) and competitive bionic hand. Although the features of our 6 DOF bionic device are substantial, one needs to always take into consideration that the values of fingertip forces of the actual human hand can be around 30 N [5,6] and the flexion-extension speed values of up to 384 °/s [7]. Thus, 3D printed open source prosthetic devices are still far away from the 25 DOF actual human hand [8].…”

Section: Discussionmentioning

confidence: 99%

Grasp: Design and Preliminary Testing of an Open-Source, 3D Printable Bionic Hand

Cano-Ferrer¹,

gomez²

2020

Preprint

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We present the design and performance evaluation of a 3D printable bionic hand developed to be manufactured, assembled and programmed in the simplest way by the user. This prosthetic device can be controlled by surface electromyography (EMG) performing the six most important types of grasp to achieve the activities of daily living (ADL’s). Our design represents an affordable option with competitive features when compared to the existing commercial and open source devices.

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Section: Discussionmentioning

confidence: 99%

Grasp: Design and Preliminary Testing of an Open-Source, 3D Printable Bionic Hand

Cano-Ferrer¹,

gomez²

2020

Preprint

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“…motor among the fingers, such as shown in [35]. Such mechanical transmission also require space that is not easily available within the hand.…”

Section: Plos Onementioning

confidence: 99%

A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities

et al. 2020

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Soft robotic hands with monolithic structure have shown great potential to be used as prostheses due to their advantages to yield light weight and compact designs as well as its ease of manufacture. However, existing soft prosthetic hands design were often not geared towards addressing some of the practical requirements highlighted in prosthetics research. The gap between the existing designs and the practical requirements significantly hampers the potential to transfer these designs to real-world applications. This work addressed these requirements with the consideration of the trade-off between practicality and performance. These requirements were achieved through exploiting the monolithic 3D printing of soft materials which incorporates membrane enclosed flexure joints in the finger designs, synergy-based thumb motion and cable-driven actuation system in the proposed hand prosthesis. Our systematic design (tentatively named X-Limb) achieves a weight of 253gr, three grasps types (with capability of individual finger movement), power-grip force of 21.5N, finger flexion speed of 1.3sec, a minimum grasping cycles of 45,000 (while maintaining its original functionality) and a bill of material cost of 200 USD (excluding quick disconnect wrist but without factoring in the cost reduction through mass production). A standard Activities Measure for Upper-Limb Amputees benchmark test was carried out to evaluate the capability of X-Limb in performing grasping task required for activities of daily living. The results show that all the practical design requirements are satisfied, and the proposed soft prosthetic hand is able to perform all the real-world grasping tasks of the benchmark tests, showing great potential in improving life quality of individuals with upper limb loss.

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“…During natural movement, the movement of the finger is similar to that shown in Figure 6c. Each joint of the finger moves synchronously and the rotation angle of each joint satisfies a certain movement law [13]. In order to simplify the design of bionic finger structure parameters and realize the adaptive motion as shown in Figure 6c, the motion relationship of joint rotation is simplified here.…”

Section: Mechanical Analysismentioning

confidence: 99%

“…Panipat Wattanasiri proposed a prosthetic hand that can perform multiple grip patterns using only one actuator based on linkage drive. However, the hand lacks perception abilities [13]. F.Cordella developed a bionic hand named IH2 Azzurra which has the ability to perceptive, such as detecting the sliding of objects in real time [14].…”

Section: Introductionmentioning

confidence: 99%

Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand

Song

et al. 2020

Micromachines

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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.

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Design of Multi-Grip Patterns Prosthetic Hand with Single Actuator

Cited by 32 publications

References 30 publications

Grasp: Design and Preliminary Testing of an Open-Source, 3D Printable Bionic Hand

Grasp: Design and Preliminary Testing of an Open-Source, 3D Printable Bionic Hand

A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities

Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand

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