scholarly journals Human Hand Anatomy Based Prosthetic Hand

2020 ◽  
Author(s):  
Larisa Dunai ◽  
Martin Novak ◽  
Carmen García Espert
Keyword(s):  
Degrees Of Freedom ◽  
Use Of Force ◽  
Hand Movements ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Object Surface ◽  
Hand Phalanges ◽  
3D Printed ◽  
High Level

The present paper describes the development of a prosthetic hand based on the human hand anatomy. The hand phalanges are printed by using 3D printed with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables to create personalized joins that allow the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand grasping start. Their use may provide the prosthetic hand the possibility of classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate with more naturalness by adding conditions and classifications to the Electromyogram sensor.

scholarly journals Human Hand Anatomy-Based Prosthetic Hand

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 137
Author(s):  
Larisa Dunai ◽  
Martin Novak ◽  
Carmen García Espert
Keyword(s):  
3D Printing ◽  
Degrees Of Freedom ◽  
Use Of Force ◽  
Hand Movements ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Object Surface ◽  
Hand Phalanges ◽  
High Level

The present paper describes the development of a prosthetic hand based on human hand anatomy. The hand phalanges are printed with 3D printing with Polylactic Acid material. One of the main contributions is the investigation on the prosthetic hand joins; the proposed design enables one to create personalized joins that provide the prosthetic hand a high level of movement by increasing the degrees of freedom of the fingers. Moreover, the driven wire tendons show a progressive grasping movement, being the friction of the tendons with the phalanges very low. Another important point is the use of force sensitive resistors (FSR) for simulating the hand touch pressure. These are used for the grasping stop simulating touch pressure of the fingers. Surface Electromyogram (EMG) sensors allow the user to control the prosthetic hand-grasping start. Their use may provide the prosthetic hand the possibility of the classification of the hand movements. The practical results included in the paper prove the importance of the soft joins for the object manipulation and to get adapted to the object surface. Finally, the force sensitive sensors allow the prosthesis to actuate more naturally by adding conditions and classifications to the Electromyogram sensor.

Novel Design of a 3D Printed Anthropomorphic Soft Prosthetic Hand

2020 ◽  
Author(s):  
Esme Abbot ◽  
Amanda de Oliveira Barros ◽  
James Yang
Keyword(s):  
Degrees Of Freedom ◽  
Fused Deposition Modeling ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Fused Deposition ◽  
Versatile Tool ◽  
3D Printed ◽  
External Covering ◽  
Almost All ◽  
Precision Grasping

Abstract Human hands play a key role in almost all activities of daily living (ADLs) because it is an incredibly versatile tool capable of complex motion. For individuals who have had a complete loss of the hand, the ability to perform ADLs is impaired. Effective prosthetics accurately simulate the movements of a human hand by providing a high number of degrees of freedom, an efficient control system, and an anthropomorphic appearance. In this paper, the design and construction process of a highly anthropomorphic soft robotic prosthetic hand is outlined. The design specifications of the hand are based on feedback from current and former prosthetic users. The hand endoskeleton was 3D printed using fused deposition modeling techniques and was enclosed in a silicone coating modeled, after a real human hand. The hand presents anthropomorphic design in its realistic bone shapes and in its external covering that is like skin in texture and mechanical properties. The hand utilizes the flexibility of silicone instead of antagonistic tendons which would otherwise add complexity and weight to the prosthetic design. The prototype also includes adduction/abduction of the fingers, which is a common omitted movement in other prosthetics. Testing showed that the hand is capable of effective power and precision grasping.

scholarly journals Development of an Anthropomorphic Prosthetic Hand with Underactuated Mechanism

2020 ◽  
Vol 10 (12) ◽  
pp. 4384
Author(s):  
Wooseok Ryu ◽  
Youngjin Choi ◽  
Yong Je Choi ◽  
Yeong Geol Lee ◽  
Sungon Lee
Keyword(s):  
Degrees Of Freedom ◽  
Power Transmission ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Underactuated Mechanism ◽  
Hand Size ◽  
Distal Interphalangeal ◽  
Compact Design ◽  
Constant Velocity Joints ◽  
Self Adaptive

An anthropomorphic prosthetic hand for wrist or forearm amputees is developed herein. The prosthetic hand was designed with an underactuated mechanism, which makes self-adaptive grasping possible, as well as natural motions such as flexion and extension. The finger and thumb modules were designed with four degrees of freedom by motions of the distal interphalangeal, proximal interphalangeal, and metacarpophalangeal joints. In this research, we pursued several novel trials in prosthetic hand design. By using two four-bar linkages composed of a combination of linkages and gears for coupling joints at each finger, it was possible to make a compact design, and the linkage has advantages such as accurate positioning, uniform power transmission, and high payload. Also, by using constant-velocity joints, torque is transferred to finger modules regardless of adduction/abduction motions. In addition, adduction/abduction and self-adaptive grasping motions are passively realized using torsional springs. The developed prosthetic hand was fabricated with a weight of 475 g and a human hand size of 175 mm. Experiments with diverse objects showed its good functionality.

Identify Finger Rotation Angles with ArUco Markers and Action Cameras

2022 ◽  
pp. 1-25
Author(s):  
Tianyun Yuan ◽  
Yu Song ◽  
Gerald A. Kraan ◽  
Richard HM Goossens
Keyword(s):  
Coordinate System ◽  
Degrees Of Freedom ◽  
Tracking System ◽  
Hand Movements ◽  
Hand Tracking ◽  
Human Hand ◽  
Joint Rotation ◽  
Hand Joints ◽  
Camera Coordinate System ◽  
Joint Experiment

Abstract Measuring the motions of human hand joints is often a challenge due to the high number of degrees of freedom. In this study, we proposed a hand tracking system utilizing action cameras and ArUco markers to continuously measure the rotation angles of hand joints. Three methods were developed to estimate the joint rotation angles. The pos-based method transforms marker positions to a reference coordinate system (RCS) and extracts a hand skeleton to identify the rotation angles. Similarly, the orient-x-based method calculates the rotation angles from the transformed x-orientations of the detected markers in the RCS. In contrast, the orient-mat-based method first identifies the rotation angles in each camera coordinate system using the detected orientations, and then, synthesizes the results regarding each joint. Experiment results indicated that the repeatability errors with one camera regarding different marker sizes were around 2.64 to 27.56 degrees and 0.60 to 2.36 degrees using the marker positions and orientations respectively. When multiple cameras were employed to measure the joint rotation angles, the angles measured by using the three methods were comparable with that measured by a goniometer. Despite larger deviations occurred when using the pos-based method. Further analysis indicated that the results of using the orient-mat-based method can describe more types of joint rotations, and the effectiveness of this method was verified by capturing hand movements of several participants. Thus it is recommended for measuring joint rotation angles in practical setups.

Elastomeric passive transmission for autonomous force-velocity adaptation applied to 3D-printed prosthetics

2018 ◽  
Vol 3 (23) ◽  
pp. eaau5543 ◽  
Author(s):  
Kevin W. O’Brien ◽  
Patricia A. Xu ◽  
David J. Levine ◽  
Cameron A. Aubin ◽  
Ho-Jung Yang ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Cost Effective ◽  
Prosthetic Hand ◽  
Prosthetic Hands ◽  
Polyurethane Composite ◽  
Compact Size ◽  
Variable Transmission ◽  
3D Printed ◽  
Force Velocity ◽  
Projection Stereolithography

The force, speed, dexterity, and compact size required of prosthetic hands present extreme design challenges for engineers. Current prosthetics rely on high-quality motors to achieve adequate precision, force, and speed in a small enough form factor with the trade-off of high cost. We present a simple, compact, and cost-effective continuously variable transmission produced via projection stereolithography. Our transmission, which we call an elastomeric passive transmission (EPT), is a polyurethane composite cylinder that autonomously adjusts its radius based on the tension in a wire spooled around it. We integrated six of these EPTs into a three-dimensionally printed soft prosthetic hand with six active degrees of freedom. Our EPTs provided the prosthetic hand with about three times increase in grip force without compromising flexion speed. This increased performance leads to finger closing speeds of ~0.5 seconds (average radial velocity, ~180 degrees second−1) and maximum fingertip forces of ~32 newtons per finger.

scholarly journals Development and Manufacturing of a Controlled 3D Printed Bionic Hand

2021 ◽  
Vol 1 ◽  
Author(s):  
Hasan Smajic ◽  
Toni Duspara
Keyword(s):  
Control Systems ◽  
Hand Movement ◽  
Technical Innovation ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Sensors And Actuators ◽  
Sensor Control ◽  
3D Printed ◽  
Fully Functioning ◽  
A Current

During a current project, a fully functioning prototype of a 3D printed bionic hand was developed. This paper explains principles such as: bionic hand movement, working rules of sensors and actuators etc. Design of all parts are performed, including the wiring of control system. The project includes two types of sensor control systems for bionic hand. One is with stretch sensors that replicates movement of human hand onto the bionic model. Other type is using machine learning (AI) and a camera. The average amputee cost is $30.000,00 for a new custom-built arm/hand. With the advancement of technology through time, manufacturing processes became cheaper and more accessible. Technical innovation of this project was the fact, that a functional prosthetic hand prototype was built for price lower than $50,00. The prototype does not have all the functions and capabilities as the full priced custom prosthetic hand, but it can replicate altogether the movements as the real device. All the fingers are capable of moving individually, sideways and with the work on the new version, gripping function could be perfected. Further work on materials, could help find the adequate material to increase friction and thusly enhance the grasp strength. The new challenge would involve testing with different kinds of materials to improve the working stability. As it was already unfavorable, this project was mostly based onto the actuation part, or rather the hand itself. Second part of research would involve exploring of different sensor systems. Two control solutions were designed and tested. Next steps would involve neurotransmission sensors, where arm would be controlled using brainwaves as signals that are transformed in movement.

Analysis and Systematic Classification of Human Hand Movement for Robot Hand Design

2008 ◽  
Vol 20 (3) ◽  
pp. 429-435 ◽  
Author(s):  
Takeshi Ninomiya ◽  
◽  
Takashi Maeno ◽  
Keyword(s):  
Hand Movement ◽  
Hand Movements ◽  
Human Hand ◽  
Robot Hand ◽  
Systematic Classification ◽  
Robot Hands ◽  
Human Muscles ◽  
Set Up ◽  
Human Hands

The systematic classification of hand movements, which indicates the minimum mechanism of robot hands, is suggested. The performance of existent robot hands is not as high as that of human hands because the performance of existent actuators does not come up to that of human muscles in the same volume. It is important for robot hands to accomplish targeted tasks with a minimum mechanism. Human hand movements are analyzed quantitatively considering robot hands such as associated movement of DIP and PIP joints. Based on the results of analysis, we obtain three items, i.e., fingers, joints that must be set up actuators and basic movements we define. We systematically classify human hand movement for the robot hand based on three items.

scholarly journals Design and Development of Prosthetic Hand Controlled by Wireless Gestures for Differently-Able People

2020 ◽  
Vol 9 (4) ◽  
pp. 1132-1135
Keyword(s):  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Servo Motor ◽  
Design And Development ◽  
Similar Action ◽  
Analog Signals ◽  
3D Printed ◽  
Arduino Microcontroller ◽  
Flex Sensors

This paper focuses on the design and development of Prosthetic hand to help differently-able people who lost their hands due to accidents and diseases. Our research purpose is to develop a master and slave robotic system that will be a substitute for the lost hand to do the day-to-day activities of a person. The person has to wear smart gloves in the hand to do gesture action. The gloves will able to transfer the hand gestures of differently-able people to react suitably and move the hand gripper (which contains spring coils similar to bones in human hand) based on the data from smart gloves. The methodology behind this research is that the analog signals produced in the flex sensor due to the gesture action are transferred to the servo motors to do a similar action in the 3D printed prosthetic hand through the Wi-Fi module. This research project involves two Arduino microcontrollers for communicating and controlling applications in both master and slave sections. A number of flex sensors are placed in the glove to get readings of the motion of human fingers and it is transmitted through the Wi-Fi module by using the Arduino microcontroller. The transmitted signals are received by the Wi-Fi module in the slave section through the Arduino microcontroller and further uses this signal to control various servo motors and it controls the slave robotic hand by using the ropes attached between the servo motor and 3D printed parts. Not only for differently-able people, but the enlarged model of this project can also be used in industries to handle hazardous, harmful, high temperatures and harmful things.

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