The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees

Victoria E. Abarca, Kevin M. Flores, Dante Elias

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

7 Citas (Scopus)

Resumen

This work describes the development of a prosthesis hand prototype with an active wrist. The Octa Hand can perform at least six grasping shapes: rest, tip, tripod, power, spherical and extension. Cables and pulley mechanism was used on each finger to enable the flexion/extension and under-actuated abduction/adduction movement while worm drive and internal helical gear mechanisms were used on the wrist to enable the flexion/extension and pronation/supination movements. To obtain an anthropomorphic, compact, low-weight and low-cost result, the prototype was designed based on a CAD model using 3D scanner technology, and the prototype was manufactured with 3D printed technology with a total weight of 950g. A control algorithm was tested for speed and fingertips force evaluation of each degree of freedom and the force in the fingertips. As a result, the average speed of the fingers was 140 deg/s and the average force of each finger was 4.6N.

Idioma originalInglés
Título de la publicación alojada2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas92-97
Número de páginas6
ISBN (versión digital)9781728133263
DOI
EstadoPublicada - abr. 2019
Evento5th International Conference on Control, Automation and Robotics, ICCAR 2019 - Beijing, China
Duración: 19 abr. 201922 abr. 2019

Serie de la publicación

Nombre2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019

Conferencia

Conferencia5th International Conference on Control, Automation and Robotics, ICCAR 2019
País/TerritorioChina
CiudadBeijing
Período19/04/1922/04/19

Huella

Profundice en los temas de investigación de 'The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees'. En conjunto forman una huella única.

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