One-To-Many Actuation Mechanism for a 3D-Printed Anthropomorphic Hand Prosthesis

Renato Mio, Sebastian Caballa, Rodrigo Vega-Centeno, Marlene Bustamante

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Prosthetic hands become more functional and dexterous the more degrees of freedom they can control for grasping objects. Nonetheless, more degrees of freedom implies an increase in the number of actuators, cost and weight, which hinders their usability and accessibility. This paper presents the design of a 3D-printed prosthetic hand powered by a single actuator controlling all fingers through a One-to-Many (underactuated) drive mechanism. In addition, finger trajectory was optimized to transmit the maximum grip force while following a path that resembles human finger kinematics. The implementation and evaluation of a prototype shows that our One-To-Many 3D-printed mechanism enables synchronous opening and closing of all fingers, and allows the performing of cylindrical, spherical and lateral grasps, as well as the lifting of heavy objects.

Original languageEnglish
Title of host publication9th Latin American Congress on Biomedical Engineering and 28th Brazilian Congress on Biomedical Engineering - Proceedings of CLAIB and CBEB 2022—Volume 3
Subtitle of host publicationBiomechanics, Biomedical Devices and Assistive Technologies
EditorsJefferson Luiz Brum Marques, Cesar Ramos Rodrigues, Daniela Ota Hisayasu Suzuki, Renato García Ojeda, José Marino Neto
PublisherSpringer Science and Business Media Deutschland GmbH
Pages621-632
Number of pages12
ISBN (Print)9783031494062
DOIs
StatePublished - 2024
Event9th Latin American Congress on Biomedical Engineering, CLAIB 2022 and 28th Brazilian Congress on Biomedical Engineering, CBEB 2022 - Florianópolis, Brazil
Duration: 24 Oct 202228 Oct 2022

Publication series

NameIFMBE Proceedings
Volume100
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Conference

Conference9th Latin American Congress on Biomedical Engineering, CLAIB 2022 and 28th Brazilian Congress on Biomedical Engineering, CBEB 2022
Country/TerritoryBrazil
CityFlorianópolis
Period24/10/2228/10/22

Keywords

  • 3D-printed prosthesis
  • One-to-many mechanism
  • Prosthetic hand
  • Underactuated robots

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