The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI:10.1109/IROS.2006.281765

Hai Huang, Li Jiang, Dawei Zhao, Jingdong Zhao, H. Cai, Hong Liu, P. Meusel, B. Willberg, G. Hirzinger

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引用次数: 31

Abstract

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 Bluetooth 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

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基于欠驱动机构的新型生物机电假肢的研制

基于欠驱动机理和耦合原理，设计了一种五指、多感官、生物机电一体化的假肢。多自由度机械手由13个关节组成，由3个电机控制。仅由一个电机驱动，拇指可以沿着锥形表面移动，这在外观上是优越的。同样由一个电机驱动，通过弹簧传动，中指、无名指和小指可以同时运动，包住形状复杂的物体。另一方面，在手的设计过程中，考虑了其美观的外观，并设计了其手套原型。开发了硬件系统和传感系统。通过蓝牙无线协议，可以通过语音信号控制手。此外，它还可以像现有的大多数假手一样由肌电信号控制。实验证明，该机械手具有较强的自适应抓取能力，能够实现准确有力的抓取

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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