Design of a hand prosthesis with precision and conformal grasp capability

Author

Bennett, Douglas A. ; Dalley, Skyler A. ; Goldfarb, Michael

Author_Institution

Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA

fYear

2012

fDate

Aug. 28 2012-Sept. 1 2012

Firstpage

3044

Lastpage

3047

Abstract

This paper presents the design of an anthropomorphic prosthetic hand that provides both precision and conformal grasp capability. Specifically, the design of the hand dedicates three actuators in a direct-drive manner to achieving precision grasp capability. The design additionally dedicates one actuator and six degrees of freedom, in addition to a compliant coupling, to providing a conformal grasping capability to the amputee. The design of the hand is described in this paper, and the various degrees of actuation are characterized with respect to grasp forces and finger speeds.

Keywords

biomechanics; prosthetics; actuators; anthropomorphic prosthetic hand; conformal grasp capability; direct-drive manner; finger speeds; hand prosthesis design; precision grasp capability; Actuators; Force; Joints; Prosthetic hand; Tendons; Thumb; Amputees; Artificial Limbs; Biomechanical Phenomena; Fingers; Hand; Hand Strength; Humans; Prosthesis Design;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE

Conference_Location

San Diego, CA

ISSN

1557-170X

Print_ISBN

978-1-4244-4119-8

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/EMBC.2012.6346606

Filename

6346606