The development on a new biomechatronic prosthetic hand based on under-actuated mechanism

被引：17
|
作者：
Huang, H. [1 ]
Jiang, L. [1 ]
Zhao, D. W. [1 ]
Zhao, J. D. [1 ]
Cai, H. G. [1 ]
Liu, H. [2 ]
Meusel, P. [2 ]
Willberg, B. [2 ]
Hirzinger, G. [2 ]
机构：
[1] Harbin Inst Technol, Robot Res Inst, Heilongjiang 150001, Peoples R China
[2] German Aerosp Ctr, Inst Robot & Mechatron, DLR, D-82230 Wessling, Germany
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
基金：
美国国家科学基金会;
关键词：
prosthetic hand; under-actuated; coupling; grasp; EMG;
D O I：
10.1109/IROS.2006.281765
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on under-actuated mechanism and coupling principle, a five-fingered, multi-sensory and biomechatronic prosthetic hand has been designed. The multi-DOF hand comprises 13 joints and is controlled by 3 motors. Actuated by only one motor, the thumb can move along a cone surface which is superior in the appearance. Also driven by one motor and transmitted by springs, the mid finger, the ring finger and the little finger can move simultaneously and envelop objects with complex shape. On the other hand, during the hand designation, the handsome appearance has been considered and its glove prototype has been designed. The hardware system and the sensory system have been developed. Through blue tooth wireless protocol, the hand can be controlled by voice signal. Furthermore, it can also be controlled by Electromyography (EMG) signal like most prosthetic hand in existence. It has been verified by experiments that the hand has strong capability of self-adaptation grasp and can accomplish precise and power grasp.
引用
收藏
页码：3791 / +
页数：2
相关论文
共 27 条
  • [1] Vibration Based Under-Actuated Bounding Mechanism
    Reis, Murat
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2016, 82 (3-4) : 455 - 466
  • [2] Vibration Based Under-Actuated Bounding Mechanism
    Murat Reis
    Journal of Intelligent & Robotic Systems, 2016, 82 : 455 - 466
  • [3] A New Under-actuated Resilient Robot
    Yuan, C. W.
    Yin, R. X.
    Chen, G.
    Zhang, W. J.
    2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2017, : 1202 - 1207
  • [4] Analyses of a Novel Under-Actuated Double Fingered Dexterous Hand
    Feng, Rui
    Wei, Yifan
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT II, 2017, 10463 : 727 - 738
  • [5] Design and Control of Five Fingered Under-Actuated Robotic Hand
    Sahoo, Biswojit
    Parida, Pramod Kumar
    INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS, MATERIALS AND APPLIED SCIENCE, 2018, 1952
  • [6] Design of an Under-Actuated Anthropomorphic Robotic Hand Based on Tendon-Linkage-Driven
    Ahn J.-W.
    Yang S.-J.
    Transactions of the Korean Society of Mechanical Engineers, B, 2024, 48 (02) : 61 - 71
  • [7] DESIGN AND ANALYSIS OF A TENDON-DRIVEN, UNDER-ACTUATED ROBOTIC HAND
    Guo, Raymond
    Nguyen, Vienny
    Niu, Lei
    Bridgwater, Lyndon
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2014, VOL 5A, 2014,
  • [8] Development of a linear-parallel and self-adaptive under-actuated hand compensated for the four-link and sliding base mechanism
    Li, Jianfeng
    Kong, Yuan
    Dong, Mingjie
    Jiao, Ran
    ROBOTICA, 2022, 40 (06) : 2047 - 2064
  • [9] A New Approach for Handling Under-actuated System Control
    Kim, Donghoon
    Leeghim, Henzeh
    TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, 2015, 58 (02) : 110 - 111
  • [10] An Under-Actuated Hand Prosthesis with Finger Abduction and Adduction for Human Like Grasps
    Abayasiri, R. A. M.
    Abayasiri, R. S. T.
    Gunawardhana, R. A. G. M.
    Premakumara, R. M. C.
    Mallikarachchi, Sanjaya
    Gopura, R. A. R. C.
    Lalitharatne, Thilina Dulantha
    Madusanka, D. G. K.
    2020 6TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR), 2020, : 574 - 580
123