Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand
Although arch motions of the palm substantially contribute to frequent hand grasping, they are usually neglected in the development of prosthetic hands which focuses on digit movements. We designed the arch function for its implementation on an adaptive multi-finger prosthetic hand. The digits from...
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doaj-a45793eed0854c45ab7545d39ccf2db62020-11-24T21:22:11ZengMDPI AGSensors1424-82202019-08-011916353910.3390/s19163539s19163539Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic HandXu Yong0Xiaobei Jing1Xinyu Wu2Yinlai Jiang3Hiroshi Yokoi4Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaCAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaDepartment of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, JapanDepartment of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, JapanAlthough arch motions of the palm substantially contribute to frequent hand grasping, they are usually neglected in the development of prosthetic hands which focuses on digit movements. We designed the arch function for its implementation on an adaptive multi-finger prosthetic hand. The digits from the developed hand can perform adaptive grasping, and two carpometacarpal joints enable the palm of the prosthetic hand to form an arch with the thumb. Moreover, the arch posture can be passively released, mimicking the human hand switching between sphere and medium wrap grasps according to the situation. Other requirements such as weight, cost, and size limitations for hand prostheses were also considered. As a result, we only used three actuators fully embedded in the palm through a novel tendon-driven transmission. Although the prosthetic hand is almost the same size of an adult hand, it weighs only 146 g and can perform 70% of the 10 most frequent grasps.https://www.mdpi.com/1424-8220/19/16/3539prosthetic handarch functionadaptive graspingmulti-finger |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Xu Yong Xiaobei Jing Xinyu Wu Yinlai Jiang Hiroshi Yokoi |
spellingShingle |
Xu Yong Xiaobei Jing Xinyu Wu Yinlai Jiang Hiroshi Yokoi Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand Sensors prosthetic hand arch function adaptive grasping multi-finger |
author_facet |
Xu Yong Xiaobei Jing Xinyu Wu Yinlai Jiang Hiroshi Yokoi |
author_sort |
Xu Yong |
title |
Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand |
title_short |
Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand |
title_full |
Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand |
title_fullStr |
Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand |
title_full_unstemmed |
Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand |
title_sort |
design and implementation of arch function for adaptive multi-finger prosthetic hand |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2019-08-01 |
description |
Although arch motions of the palm substantially contribute to frequent hand grasping, they are usually neglected in the development of prosthetic hands which focuses on digit movements. We designed the arch function for its implementation on an adaptive multi-finger prosthetic hand. The digits from the developed hand can perform adaptive grasping, and two carpometacarpal joints enable the palm of the prosthetic hand to form an arch with the thumb. Moreover, the arch posture can be passively released, mimicking the human hand switching between sphere and medium wrap grasps according to the situation. Other requirements such as weight, cost, and size limitations for hand prostheses were also considered. As a result, we only used three actuators fully embedded in the palm through a novel tendon-driven transmission. Although the prosthetic hand is almost the same size of an adult hand, it weighs only 146 g and can perform 70% of the 10 most frequent grasps. |
topic |
prosthetic hand arch function adaptive grasping multi-finger |
url |
https://www.mdpi.com/1424-8220/19/16/3539 |
work_keys_str_mv |
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1725997060654628864 |