Underactuated tendon-driven robotic/prosthetic hands: design issues
نویسندگان
چکیده
This paper discusses several design issues pertaining to the design of anthropomorphic underactuated robotic or prosthetic hands. The design of the underactuation mechanism that drives the fingers is first addressed. A double-stage mechanism is proposed that includes a lever arm to couple the motion of the thumb and the fingers as well as an additional pulley that amplifies the input force. Then, the design of the underactuated fingers is discussed and a novel rotational sliding joint is proposed. The geometric and mechanical design of a thumb mechanism is also presented that allows the reconfiguration of the thumb in the three most favorable poses. Finally, a prototype is presented that implements the design choices discussed in the paper and its effectiveness is qualitatively discussed based on a series of experiments.
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Design and Control of an Underactuated Prosthetic Hand
The robotic hands can be divided into two major groups: fully-actuated and underactuated hands. In fully-actuated hands all the joints have separate motors, while in underactuated hands the number of motors is less than number of degrees of freedom. The underactuated hands can adapt to the object shape by use of their mechanical design while they have less functionality. A relationship between ...
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