A hydraulically driven multifunctional prosthetic hand

被引：45
作者：
Schulz, S [1 ]
Pylatiuk, C [1 ]
Reischl, M [1 ]
Martin, J [1 ]
Mikut, R [1 ]
Bretthauer, G [1 ]
机构：
[1] Forschungszentrum Karlsruhe, Inst Appl Comp Sci, Karlsruhe, Germany
来源：
ROBOTICA | 2005年 / 23卷
关键词：
artificial hand; exo-prosthetics; fluidic actuators; control;
D O I：
10.1017/S0263574704001316
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper a new prosthetic hand is presented that closely approximates the grasping abilities of a human hand. A large variety of different objects can be grasped reliably and the movements of the hand appear to natural. This five-finger hand has 15 degrees of freedom driven by small sized flexible fluidic actuators. The drives are within the fingers allowing a very compact and lightweight hand. Also, a concept for the control of different grasp types is presented. The characteristics of the new hand are illustrated.
引用
收藏
页码：293 / 299
页数：7
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