Characterizing grippers for transmitting prosthetic device for upper limbs

• Main Author: Chen, Michelle X.,S.B.Massachusetts Institute of Technology.
• Other Authors: Sangbae Kim.
• Format: Others
• Language: English
• Published: Massachusetts Institute of Technology 2019
• Subjects: Mechanical Engineering.
• Online Access: https://hdl.handle.net/1721.1/123256

Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019 === Cataloged from PDF version of thesis. === Includes bibliographical references (page 33). === In this thesis, I designed and tested various fingertip grippers for a wearable force transmitting prosthetic device. This device uses fluid displacement to provide force feedback to the user, allowing the user to feel how much force they are gripping an object with. The device consists of two molded rubber fingertips filled with fluid and actuated by a motor. Various strengths and shapes of the molded rubber fingertips were tested and characterized by how much force was required to displace a certain volume. With this data, the fingertips can be optimized for compactness in a more wearable design. === by Michelle X. Chen. === S.B. === S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering