Design of a Multigrasp Transradial Prosthesis

This paper describes the design and performance of a new prosthetic hand capable of multiple grasp configurations, and capable of fingertip forces and speeds comparable to those used by healthy subjects in typical activities of daily living. The hand incorporates four motor units within the palm, wh...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Journal of medical devices 2011-09, Vol.5 (3)
Hauptverfasser: Wiste, Tuomas E, Dalley, Skyler A, Atakan Varol, H, Goldfarb, Michael
Format: Artikel
Sprache:eng
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:This paper describes the design and performance of a new prosthetic hand capable of multiple grasp configurations, and capable of fingertip forces and speeds comparable to those used by healthy subjects in typical activities of daily living. The hand incorporates four motor units within the palm, which together drive sixteen joints through tendon actuation. Each motor unit consists of a brushless motor that drives one or more tendons through a custom two-way clutch and pulley assembly. After presenting the design of the prosthesis, the paper presents a characterization of the hand’s performance. This includes its ability to provide eight grasp postures, as well as its ability to provide fingertip forces and finger speeds comparable to those described in the biomechanics literature corresponding to activities of daily living.
ISSN:1932-6181
1932-619X
DOI:10.1115/1.4004653