Design of a Multifunctional Anthropomorphic Prosthetic Hand With Extrinsic Actuation

被引：157

作者：

Dalley, Skyler A. ^{[1
]}

Wiste, Tuomas E. ^{[1
]}

Withrow, Thomas J. ^{[1
]}

Goldfarb, Michael ^{[1
]}

机构：

[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2009年 / 14卷 / 06期

关键词：

Artificial limbs; mechatronics; prosthetics;

D O I：

10.1109/TMECH.2009.2033113

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an anthropomorphic prototype hand prosthesis that is intended for use with a multiple-channel myoelectric interface. The hand contains 16 joints, which are differentially driven by a set of five independent actuators. The hand prototype was designed with the minimum number of independent actuators required to provide a set of eight canonical hand postures. This paper describes the design of the prosthesis prototype, demonstrates the hand in the desired eight canonical postures, and experimentally characterizes the force and speed capability of the device. A video is included in the supplementary material that also illustrates the functionality and performance of the hand.

引用

页码：699 / 706

页数：8

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