Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand

Author

Controzzi, Marco ; Cipriani, Christian ; Jehenne, Beryl ; Donati, Marco ; Carrozza, Maria Chiara

Author_Institution

ARTS Lab. of Scuola Superiore Sant´´Anna, Pontedera, Italy

fYear

2010

fDate

Aug. 31 2010-Sept. 4 2010

Firstpage

499

Lastpage

502

Abstract

This paper presents the preliminary design of a new dexterous upper-limb prosthesis provided with a novel anthropomorphic hand, a compact wrist based on bevel gears and a modular forearm able to cover different levels of upper-limb amputations. The hand has 20 DoFs and 11 motors, with a dexterous three fingered subsystem composed by a fully actuated thumb, and an hybrid index and middle fingers to enable dexterous manipulation and enhance grasp performance.

Keywords

artificial organs; dexterous manipulators; anthropomorphic hand; bevel gears; dexterous manipulation; dexterous three fingered subsystem; dexterous upper-limb prosthesis; grasp; mechanical design; modular forearm; tendon-driven dexterous prosthetic hand; upper-limb amputations; Actuators; Fingers; Flexible printed circuits; Humans; Joints; Thumb; Wrist; Anthropometry; Artificial Limbs; Biomechanics; Hand; Hand Joints; Humans; Prosthesis Design; Tendons;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE

Conference_Location

Buenos Aires

ISSN

1557-170X

Print_ISBN

978-1-4244-4123-5

Type

conf

DOI

10.1109/IEMBS.2010.5627148

Filename

5627148