Development and Implementation of an Anthropomorphic Underactuated Prosthesis with Adaptive Grip

Abstract

This paper describes the design of a prosthetic hand for wrist amputations. The mechanism considers the use of three actuators: one each for the movement of the little finger, annular finger, and middle finger. The second actuator controls the index finger, and the third controls the thumb. The prototype is considered relevant as it is able to move the distal phalanx in all fingers; the little, annular, and middle fingers are able to adapt to the shape of the object being gripped (adaptive grip). The sequence of movements achieved with the thumb emulate the opposition/reposition and flexion/extension movements, commanded by a single actuator. The proposed design was built by additive manufacturing and effortlessly achieves a large number of grips. Additionally, the prosthesis could perform specific movements, such as holding a needle, although this grip demands higher precision in the control of the fingers. Due to the manufacturing method, the prosthesis weighs only 200 g, increasing to 450 g when the actuators are included, therefore weighing less than an average adult’s hand.

Identifying some regularities of the fatigue behavior of the reinforced carbon-fiber with Al2O3 nanoparticles composite structure of the prosthesis foot

“…These properties include ultimate strength, yield strength, and tensile strength. In the course of the past decades, a number of different methods that were both cost-effective and efficient for the manufacture of carbon-fiber composites to enhance their mechanical properties were introduced [24]. Processes including hand layup, compression moulding, vacuum bagging, and vacuum-assisted resin transfer moulding can all be used to produce epoxy-based composites.…”