Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions
Most prosthetic hands adopt an under-actuated mechanism to achieve dexterous motion performance with a lightweight and anthropomorphic design. Many have been verified in laboratories, and some have already been commercialized. However, a trade-off exists between the dexterity and the light weight of...
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doaj-fdf7466ad35b423d90a9e5a62f3422f92020-11-25T00:04:25ZengMDPI AGApplied Sciences2076-34172019-10-01920420310.3390/app9204203app9204203Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform MotionsXiaobei Jing0Xu Yong1Yinlai Jiang2Guanglin Li3Hiroshi Yokoi4CAS Key Laboratory of Human-Machine Intelligence-Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, ChinaCAS Key Laboratory of Human-Machine Intelligence-Synergic Systems, 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, JapanCAS Key Laboratory of Human-Machine Intelligence-Synergic Systems, 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, JapanMost prosthetic hands adopt an under-actuated mechanism to achieve dexterous motion performance with a lightweight and anthropomorphic design. Many have been verified in laboratories, and some have already been commercialized. However, a trade-off exists between the dexterity and the light weight of such prosthetic hands. In general, current commercially available prosthetic hands usually consider one aspect at the expense of the other, such as obtaining diversiform hand motions but an increased weight, or achieving lightweight design but with limited motion functions. This study attempts to attain a balance between the two factors, by realizing diversiform hand motions while reducing the weight as far as possible. An anthropomorphic prosthetic hand is proposed with only three servomotors embedded in a human-sized palm, with multiple functions, such as a stable/adaptive grasp and passive hyperextension. The proposed hand can achieve 13 grasp types with over 80% of the grasp motions under the Cutkosky taxonomy, while it weighs only 132.5 g, at less than 36% of the prosthesis weight limitation based on the study of Kay et al.https://www.mdpi.com/2076-3417/9/20/4203prosthetic handdiversiform motionlight weightanthropomorphic |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Xiaobei Jing Xu Yong Yinlai Jiang Guanglin Li Hiroshi Yokoi |
spellingShingle |
Xiaobei Jing Xu Yong Yinlai Jiang Guanglin Li Hiroshi Yokoi Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions Applied Sciences prosthetic hand diversiform motion light weight anthropomorphic |
author_facet |
Xiaobei Jing Xu Yong Yinlai Jiang Guanglin Li Hiroshi Yokoi |
author_sort |
Xiaobei Jing |
title |
Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions |
title_short |
Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions |
title_full |
Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions |
title_fullStr |
Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions |
title_full_unstemmed |
Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions |
title_sort |
anthropomorphic prosthetic hand with combination of light weight and diversiform motions |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2019-10-01 |
description |
Most prosthetic hands adopt an under-actuated mechanism to achieve dexterous motion performance with a lightweight and anthropomorphic design. Many have been verified in laboratories, and some have already been commercialized. However, a trade-off exists between the dexterity and the light weight of such prosthetic hands. In general, current commercially available prosthetic hands usually consider one aspect at the expense of the other, such as obtaining diversiform hand motions but an increased weight, or achieving lightweight design but with limited motion functions. This study attempts to attain a balance between the two factors, by realizing diversiform hand motions while reducing the weight as far as possible. An anthropomorphic prosthetic hand is proposed with only three servomotors embedded in a human-sized palm, with multiple functions, such as a stable/adaptive grasp and passive hyperextension. The proposed hand can achieve 13 grasp types with over 80% of the grasp motions under the Cutkosky taxonomy, while it weighs only 132.5 g, at less than 36% of the prosthesis weight limitation based on the study of Kay et al. |
topic |
prosthetic hand diversiform motion light weight anthropomorphic |
url |
https://www.mdpi.com/2076-3417/9/20/4203 |
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