Development of an anthropomorphic prosthetic hand with underactuated mechanism

Wooseok Ryu; Youngjin Choi; Yong Je Choi; Yeong Geol Lee; Sungon Lee

doi:10.3390/app10124384

Development of an anthropomorphic prosthetic hand with underactuated mechanism

Wooseok Ryu, Youngjin Choi, Yong Je Choi, Yeong Geol Lee, Sungon Lee

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

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.

Original language	English
Article number	4384
Journal	Applied Sciences (Switzerland)
Volume	10
Issue number	12
DOIs	https://doi.org/10.3390/app10124384
Publication status	Published - 2020 Jun 1

Bibliographical note

Funding Information:
This research was supported in part by the convergence technology development program for bionic arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science & ICT (No. 2015M3C1B2052811), Republic of Korea. This work was also supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (20001856, Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea).

Funding Information:
lighter by analyzing which parts can be replaced by light material and fabricating the parts using 3D printing. Author Contributions: Conceptualization, W.R., Y.C.; Methodology, W.R., Y.C. and S.L.; Formal analysis, W.R., Y.G.L. and Y.J.C.; Writing—original draft preparation, W.R.; Supervision, Y.C., Y.J.C. and S.L.; Project administration, S.L.; Writing—review and editing, Y.C., Y.J.C. and S.L. All authors have read and agreed to the published version of the manuscript. administration, S.L.; Writing—review and editing, Y.C., Y.J.C. and S.L. All authors have read and agreed to the Funding: This research was supported in part by the convergence technology development program for bionic arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science & ICT F(Nuno.di2n0g1:5TMh3isCr1eBse2a0r5c2h81w1a),sRsuepppuobrlitcedofinKpoarerta.byTthhies cwoonrvkerwgeanscael stoecshunpoploogryteddebvyeltohpemTeencthpnroologgraymInfnorovbaiotinoinc arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science & ICT (No. control technology capable of grasping and manipulating various objects in everyday life environment based on 2015M3C1B2052811), Republic of Korea. multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). This work was also supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (20001856, Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea)

Publisher Copyright:
© 2020 by the authors.

All Science Journal Classification (ASJC) codes

Materials Science(all)
Instrumentation
Engineering(all)
Process Chemistry and Technology
Computer Science Applications
Fluid Flow and Transfer Processes

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10.3390/app10124384

Cite this

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title = "Development of an anthropomorphic prosthetic hand with underactuated mechanism",

abstract = "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.",

author = "Wooseok Ryu and Youngjin Choi and Choi, {Yong Je} and Lee, {Yeong Geol} and Sungon Lee",

note = "Funding Information: This research was supported in part by the convergence technology development program for bionic arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science & ICT (No. 2015M3C1B2052811), Republic of Korea. This work was also supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (20001856, Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). Funding Information: lighter by analyzing which parts can be replaced by light material and fabricating the parts using 3D printing. Author Contributions: Conceptualization, W.R., Y.C.; Methodology, W.R., Y.C. and S.L.; Formal analysis, W.R., Y.G.L. and Y.J.C.; Writing—original draft preparation, W.R.; Supervision, Y.C., Y.J.C. and S.L.; Project administration, S.L.; Writing—review and editing, Y.C., Y.J.C. and S.L. All authors have read and agreed to the published version of the manuscript. administration, S.L.; Writing—review and editing, Y.C., Y.J.C. and S.L. All authors have read and agreed to the Funding: This research was supported in part by the convergence technology development program for bionic arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science & ICT F(Nuno.di2n0g1:5TMh3isCr1eBse2a0r5c2h81w1a),sRsuepppuobrlitcedofinKpoarerta.byTthhies cwoonrvkerwgeanscael stoecshunpoploogryteddebvyeltohpemTeencthpnroologgraymInfnorovbaiotinoinc arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science & ICT (No. control technology capable of grasping and manipulating various objects in everyday life environment based on 2015M3C1B2052811), Republic of Korea. multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). This work was also supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (20001856, Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea) Publisher Copyright: {\textcopyright} 2020 by the authors.",

year = "2020",

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doi = "10.3390/app10124384",

language = "English",

volume = "10",

journal = "Applied Sciences (Switzerland)",

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AU - Ryu, Wooseok

AU - Choi, Youngjin

AU - Choi, Yong Je

AU - Lee, Yeong Geol

AU - Lee, Sungon

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PY - 2020/6/1

Y1 - 2020/6/1

N2 - 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.

AB - 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.

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Development of an anthropomorphic prosthetic hand with underactuated mechanism

Abstract

Bibliographical note

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