TY - GEN
T1 - One-To-Many Actuation Mechanism for a 3D-Printed Anthropomorphic Hand Prosthesis
AU - Mio, Renato
AU - Caballa, Sebastian
AU - Vega-Centeno, Rodrigo
AU - Bustamante, Marlene
N1 - Publisher Copyright:
© 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
KW - 3D-printed prosthesis
KW - One-to-many mechanism
KW - Prosthetic hand
KW - Underactuated robots
UR - http://www.scopus.com/inward/record.url?scp=85181768647&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-49407-9_62
DO - 10.1007/978-3-031-49407-9_62
M3 - Conference contribution
AN - SCOPUS:85181768647
SN - 9783031494062
T3 - IFMBE Proceedings
SP - 621
EP - 632
BT - 9th Latin American Congress on Biomedical Engineering and 28th Brazilian Congress on Biomedical Engineering - Proceedings of CLAIB and CBEB 2022—Volume 3
A2 - Marques, Jefferson Luiz Brum
A2 - Rodrigues, Cesar Ramos
A2 - Suzuki, Daniela Ota Hisayasu
A2 - García Ojeda, Renato
A2 - Marino Neto, José
PB - Springer Science and Business Media Deutschland GmbH
T2 - 9th Latin American Congress on Biomedical Engineering, CLAIB 2022 and 28th Brazilian Congress on Biomedical Engineering, CBEB 2022
Y2 - 24 October 2022 through 28 October 2022
ER -