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Sensors (Basel). 2019 Aug 13;19(16). pii: E3539. doi: 10.3390/s19163539.

Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand.

Yong X1,2,3, Jing X2,3, Wu X4,5,6, Jiang Y7,8,9, Yokoi H3,10,11.

Author information

1
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, China.
2
CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, China.
3
Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan.
4
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, China. xy.wu@siat.ac.cn.
5
CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences (CAS), Shenzhen 518055, China. xy.wu@siat.ac.cn.
6
SIAT Branch, Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen 518055, China. xy.wu@siat.ac.cn.
7
Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan. jiang@hi.mce.uec.ac.jp.
8
Center for Neuroscience and Biomedical Engineering, The University of Electro-communications, Tokyo 1828585, Japan. jiang@hi.mce.uec.ac.jp.
9
Beijing Innovation Center for Intelligent Robots and Systems, Beijing 100081, China. jiang@hi.mce.uec.ac.jp.
10
Center for Neuroscience and Biomedical Engineering, The University of Electro-communications, Tokyo 1828585, Japan.
11
Beijing Innovation Center for Intelligent Robots and Systems, Beijing 100081, China.

Abstract

Although arch motions of the palm substantially contribute to frequent hand grasping, they are usually neglected in the development of prosthetic hands which focuses on digit movements. We designed the arch function for its implementation on an adaptive multi-finger prosthetic hand. The digits from the developed hand can perform adaptive grasping, and two carpometacarpal joints enable the palm of the prosthetic hand to form an arch with the thumb. Moreover, the arch posture can be passively released, mimicking the human hand switching between sphere and medium wrap grasps according to the situation. Other requirements such as weight, cost, and size limitations for hand prostheses were also considered. As a result, we only used three actuators fully embedded in the palm through a novel tendon-driven transmission. Although the prosthetic hand is almost the same size of an adult hand, it weighs only 146 g and can perform 70% of the 10 most frequent grasps.

KEYWORDS:

adaptive grasping; arch function; multi-finger; prosthetic hand

PMID:
31412642
DOI:
10.3390/s19163539
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