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 act...
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Veröffentlicht in: | 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society 2012-01, Vol.2012, p.3044-3047 |
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Hauptverfasser: | , , |
Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | 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. |
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ISSN: | 1094-687X 1557-170X 1558-4615 |
DOI: | 10.1109/EMBC.2012.6346606 |