A Gear-Driven Prosthetic Hand with Major Grasp Functions for Toddlers

被引：0
|
作者：
Jing, Xiaobei [1 ,2 ,3 ]
Yong, Xu [1 ,3 ]
Shi, Yuankang [3 ]
Yabiki, Yoshiko [3 ]
Jiang, Yinlai [3 ,4 ]
Yokoi, Hiroshi [3 ,4 ]
Li, Guanglin [1 ,2 ]
机构：
[1] Chinese Acad Sci, Shenzhen Inst Adv Technol, CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen 518055, Guangdong, Peoples R China
[2] Shenzhen Inst Artificial Intelligence & Robot Soc, SIAT Branch, Shenzhen, Peoples R China
[3] Univ Electrocommun, Dept Mech Engn & Intelligent Syst, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan
[4] Univ Electrocommun, Ctr Neurosci & Biomed Engn, Tokyo 1828585, Japan
来源：
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2019年
关键词：
D O I：
10.1109/iros40897.2019.8967588
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a gear-driven prosthetic hand designed for toddlers with transradial amputation. The hand design considers three main issues: weight, cost, and operability. The prosthetic hand and the cosmetic silicon glove are made based on the dimensions of a real hand. The simple, stable, and reliable gear-driven transmission helps to reduce the weight and the cost. A small actuator is embedded in the palm. During the grasp, the four fingers and the thumb flexes and extends as a unit to provide a wide range of holding area. The kinematics and static analysis in grasping was performed and the simulation results were compared with measured data. The motion performance and practical operability of the proposed hand was verified experimentally by a test system and a transradial subject.
引用
收藏
页码：7321 / 7326
页数：6
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