The Modeling Process of a Human Hand Prosthesis

Author(s):  
Doina Dragulescu ◽  
Loredana Ungureanu
Robotica ◽  
2014 ◽  
Vol 33 (5) ◽  
pp. 1034-1048 ◽  
Author(s):  
Cesare Rossi ◽  
Sergio Savino ◽  
Vincenzo Niola ◽  
Stefano Troncone

SUMMARYIn the present paper, a model of an underactuated robotic hand with tendon driven fingers is proposed. The aim of the project was to study the feasibility of building a mechanical hand with four or five fingers, the movement of which is achieved using a single linear actuator. The mechanism was first modelled in order to study the possible improvement in the ability of a “robotic hand” powered with a single actuator in regard to grasping objects with complex shapes and also in achieving a strong grip on objects. Next, a model of the finger was studied in order to optimize of its parameters. Finally, a five-fingered robotic hand was modelled for potential application as a human hand prosthesis. Our studies on the dynamic and kinematic behaviour of a single finger mechanism permitted us to make the first prototypes of the mechanism. In addition to modelling studies, we also present a prototype of the modelled robotic hand that was developed in order to optimize functionality and simplicity of construction.


2021 ◽  
Vol 15 ◽  
Author(s):  
Qi Luo ◽  
Chuanxin M. Niu ◽  
Chih-Hong Chou ◽  
Wenyuan Liang ◽  
Xiaoqian Deng ◽  
...  

The human hand has compliant properties arising from muscle biomechanics and neural reflexes, which are absent in conventional prosthetic hands. We recently proved the feasibility to restore neuromuscular reflex control (NRC) to prosthetic hands using real-time computing neuromorphic chips. Here we show that restored NRC augments the ability of individuals with forearm amputation to complete grasping tasks, including standard Box and Blocks Test (BBT), Golf Balls Test (GBT), and Potato Chips Test (PCT). The latter two were more challenging, but novel to prosthesis tests. Performance of a biorealistic controller (BC) with restored NRC was compared to that of a proportional linear feedback (PLF) controller. Eleven individuals with forearm amputation were divided into two groups: one with experience of myocontrol of a prosthetic hand and another without any. Controller performances were evaluated by success rate, failure (drop/break) rate in each grasping task. In controller property tests, biorealistic control achieved a better compliant property with a 23.2% wider range of stiffness adjustment than that of PLF control. In functional grasping tests, participants could control prosthetic hands more rapidly and steadily with neuromuscular reflex. For participants with myocontrol experience, biorealistic control yielded 20.4, 39.4, and 195.2% improvements in BBT, GBT, and PCT, respectively, compared to PLF control. Interestingly, greater improvements were achieved by participants without any myocontrol experience for BBT, GBT, and PCT at 27.4, 48.9, and 344.3%, respectively. The functional gain of biorealistic control over conventional control was more dramatic in more difficult grasp tasks of GBT and PCT, demonstrating the advantage of NRC. Results support the hypothesis that restoring neuromuscular reflex in hand prosthesis can improve neural motor compatibility to human sensorimotor system, hence enabling individuals with amputation to perform delicate grasps that are not tested with conventional prosthetic hands.


Biomechanisms ◽  
1994 ◽  
Vol 12 (0) ◽  
pp. 293-301
Author(s):  
Masaki YOSHIDA ◽  
Ryuhei OKUNO ◽  
Kenzo AKAZAWA ◽  
Kazunori KATO ◽  
Masafumi MATSUMURA ◽  
...  

2010 ◽  
Vol 166-167 ◽  
pp. 383-388
Author(s):  
Ionel Staretu

In this paper are described the main stages of structural and cinematic synthesis and analysis, design and functional simulation regarding the mechanism of the human hand prosthesis. For the structural scheme, one uses three pivot joints only, and one movement for closing the palm. The technical project is complete. One command scheme is shown too. The functional simulation has been made in CAD and virtual reality for to identify the best solutions and to optimize the constructive solution and to use the prosthesis by human operator.


Author(s):  
Lílian Panachuk

In this article, guided by experienced ceramists, I was able to delve into the pottery productive universe, not only observing these ceramist women, but thinking with my hands. This commitment to learning a motor skill has allowed new questions to surface, modifying my point of view regarding the artifact. As in the productive process that I have been learning, this text has come and go, and these retakes have been part of its modeling process, of my own learning process. And so, it may seem overly intersubjective, because it approaches frontier paradigms. Focusing on the gestures, the production of the text also gave the groping, with the body being the guide on the way. The gesture is pure ubiquity, being at the same time intellectual and material denotes the know-how itself; or rather, more than that, it allows the doing-being because in building the materiality develops at the same time, the identity. As Leroi-Gourhan (1965, p. 44) said long time before, "it is in what produces or does, not in what is, what a human hand manifest itself as such". As Ceramistas e a Arqueóloga: a Argila na Construção de Corpos Distintos A olaria é uma técnica corporal exigente que requer um corpo ativo. É preciso (constantemente) atenção voluntária, treino, repetição, abertura à crítica e autocrítica, tolerância à dor (e de novo). Mas é fundamental saber montar e desmontar - sempre como processo contínuo – o sujeito e a matéria, a pessoa e o objeto, de forma inseparável. O barro é também uma pessoa e a pessoa um corpo-máquina, ciborgue (Haraway, 2000). Um corpo molda o outro de forma relacional (Joyce, 2000) em um processo recíproco de objetivação-subjetivação (Santos-Granero, 2009). Para as ceramistas com as quais convivo nos espaços urbanos, só existe o ser no fazer, esses verbos se constroem mutuamente e se enredam, não há vida sem argila. Ser essa pessoa tem estreita relação com o fazer cerâmico. Como já aprendemos faz tempo com Simone de Beauvoir e Judith Butler, nos tornamos mulheres nessa construção material e simbólica; e distintas umas das outras, mulheres situadas. Nesse sentido, interessa aqui debater algumas dessas construções e sociabilidades em fazer-ser uma mulher ceramista em um contexto urbano. Elas se constroem em um esforço voluntário, consciente e proativo em seu ofício, como mulheres-ceramistas. Entre ceramistas a máxima “sinto, logo sou” é potencializada, e é então um corpo ativo que aplica uma teoria viva ao seu meio ambiente (Le Breton, 2016). Nesse artigo pretendo interligar pessoas, coisas e fatos, para construir uma narrativa (parcial) sobre a tecnologia cerâmica e os diferentes corpos que ela produz. A perspectiva, no entanto, não é minha nem delas sendo ao mesmo tempo também nossa. É a argila, narradora da história, que dita o tempo, constrói, conecta e transforma os diferentes corpos. É essa perspectiva da materialidade que desejo seguir, incluindo os gestos técnicos como perspectiva teórico-prática.


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