一种拟人假手的新运动学，允许用单个驱动器进行横向和反向抓取

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Computational and Nonlinear Dynamics Pub Date : 2023-02-07 DOI:10.1115/1.4056852

Côme Butin, D. Chablat, Y. Aoustin, David Gouallier

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引用次数: 2

摘要

这项工作介绍了一种新的手部假体结构，能够通过使用单个驱动器实现相对和侧向抓取。对假肢以及日常生活和工作中经典动作的分析使我们能够将工作重点放在这两种类型的抓取上。用户移动一个可锁定的被动关节，在对握和侧向抓握之间切换。通过对四个极端位置的3D扫描，确定了拇指的位置。通过分析拇指的运动来确定要创建的关节的位置。然后，对四杆机构进行优化，使其具有良好的传力能力。对设计参数对性能指标的影响进行敏感性分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Novel Kinematics of an Anthropomorphic Prosthetic Hand Allowing Lateral and Opposite Grasp with a Single Actuator

This work introduced a new hand prosthesis architecture able to achieve an opposite and lateral grasp by using a single actuator. An analysis of the hand prostheses, as well as the movements classically performed in daily life and at work allows us to focus our work on these two types of grasp. A lockable passive joint is moved by the user to switch between the opposite and lateral grasp. The location of the thumb was defined thanks to 3D scans in four extreme positions. The movement of the thumb is analysed to determine the location of the joints to be created. Then, a four-bar linkage was optimized to realize this motion with good force transmission. A sensitivity analysis was performed to evaluate the performance index variation based on design parameters.

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来源期刊

Journal of Computational and Nonlinear Dynamics 工程技术-工程：机械

CiteScore

4.00

自引率

10.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.