title: Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics.
abstract: This paper presents the design of a linkage based finger mechanism ensuring extended range of anthropomorphic gripping motions. The finger design is done using a path-point generation method based on geometrical dimensions and motion of a typical index human finger. Following the design description, and its kinematics analysis, the experimental evaluation of the finger gripping performance is presented using the finger 3D printed prototype. The finger underactuation is achieved by utilizing mechanical linkage system, consisting of two crossed four-bar linkage mechanisms. It is shown that the proposed finger design can be used to design a five-fingered anthropomorphic hand and has the potential for upper limb prostheses development.
authors.forename: Nurdos
authors.initials: N
authors.lastname: Omarkulov
authors.forename: Kuat
authors.initials: K
authors.lastname: Telegenov
authors.forename: Maralbek
authors.initials: M
authors.lastname: Zeinullin
authors.forename: Ainur
authors.initials: A
authors.lastname: Begalinova
authors.forename: Almas
authors.initials: A
authors.lastname: Shintemirov
mesh_terms: D000886:Anthropometry; D001186:Artificial Limbs; D005385:Fingers / Q000502:physiology*; D018737:Hand Strength / Q000502:physiology; D006801:Humans; D008954:Models, Biological; D011474:Prosthesis Design / Q000379:methods*