Design of a hand prosthesis with precision and conformal grasp capability.
This paper presents the design of an anthropomorphic prosthetic hand that provides both precision and conformal grasp capability. Specifically, the design of the hand dedicates three actuators in a direct-drive manner to achieving precision grasp capability. The design additionally dedicates one actuator and six degrees of freedom, in addition to a compliant coupling, to providing a conformal grasping capability to the amputee. The design of the hand is described in this paper, and the various degrees of actuation are characterized with respect to grasp forces and finger speeds.
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37240, USA. daniel.a.bennett@vanderbilt.edu
Daniel A
DA
Bennett
Skyler A
SA
Dalley
Michael
M
Goldfarb
D000674:Amputees; D001186:Artificial Limbs; D001696:Biomechanical Phenomena; D005385:Fingers / Q000502:physiology; D006225:Hand / Q000502:physiology* / Q000601:surgery; D018737:Hand Strength / Q000502:physiology*; D006801:Humans; D011474:Prosthesis Design