Development and assessment of a powered 3D-printed prosthetic hand for transmetacarpal amputees

Renato Mio, Bruno Villegas, Luis Ccorimanya, Kevin M. Flores, Giancarlo Salazar, Dante Elias

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

10 Citas (Scopus)

Resumen

New proposals for prosthetic hands fabricated by means of 3D printing are either body-powered for partial hand amputees or myoelectric powered prostheses for transradial amputees. There are no current studies to develop powered 3D printed prostheses for transmetacarpal, probably because at this level of amputation there is little space to fit actuators and their associated electronics. In this work, a design of a 3D-printed hand prosthesis for transmetacarpal amputees and powered by DC micromotors is presented. Four-bar linkage mechanisms were used for the index, middle, ring and little fingers flexion movements, while a mechanism of cylindrical gears and worm drive were used for the thumb. Additionally, a method for customizing prosthetic fingers to match a user specific anthropometry is proposed. Sensors and actuators' selection is explained, and a position control algorithm was developed for each local controller by modeling the DC motors and transmission mechanisms. Finally, a basic control scheme was tested on the prototype for velocity and force evaluation.

Idioma originalInglés
Título de la publicación alojada2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas85-90
Número de páginas6
ISBN (versión digital)9781509060870
DOI
EstadoPublicada - 7 jun. 2017
Evento3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japón
Duración: 22 abr. 201724 abr. 2017

Serie de la publicación

Nombre2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017

Conferencia

Conferencia3rd International Conference on Control, Automation and Robotics, ICCAR 2017
País/TerritorioJapón
CiudadNagoya
Período22/04/1724/04/17

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