25-08-2017, 09:32 PM
A “Wearable” Artificial Hand for Prosthetics and Humanoid Robotics Applications
A “Wearable” Artificial Hand.pdf (Size: 1.09 MB / Downloads: 116)
Abstract
An “ideal” artificial hand should match the requirements of
prosthetics and humanoid robotics.
It can be wearable by the user which means that it can be
perceived as part of the natural body and should replicate
sensory-motor capabilities of the natural hand. However, such
an ideal bionic prosthesis is still far from reality.
This paper describes the design and fabrication of a novel
artificial hand based on a “biomechatronic” and cybernetic
approach. Our approach is aimed at providing “natural”
sensory-motor co-ordination, by integrating biomimetic
mechanisms, force and position sensors, actuators and control,
and by interfacing the hand with the peripheral nervous
system.
DESIGN OF THE HAND PROTOTYPE
In order to demonstrate the feasibility of the described
biomechatronic approach, we have developed a three
fingered hand prototype by developing two finger (index
and middle) and the thumb. Actuators, position sensors and
2D force sensors have been integrated in the hand structure.
INDEX/MIDDLE FINGER DESIGN
The two prototypes have been designed by reproducing, as
closely as possible, the size and kinematics of a human
finger. They consist of three phalanxes and of palm
housing, which is the part of the palm needed to house the
proximal actuator (see Fig. 5).
CONCLUSIONS
A novel approach to the design and fabrication of
innovative prosthetic hands, called biomechatronic design,
has been presented. It is based on integrating together
multiple degrees of freedom, multi-sensing capabilities, and
distributed control in order to obtain “elegant” human-like
appearance, simple and direct controllability, low weight,
low energy consumption and noiselessness.
Following this type of approach a first hand prototype with
six DOFs has been designed and fabricated. In this paper
we focused our attention on the design and development of
a first implementation of an innovative hand, and in
particular on the biomechatronic approach and on the
integration of the position and force sensors.