Design of an anthropomorphic prosthetic hand with elastic joints

作者：Wang, Nian-Feng; Lao, Kun-Yi; Zhang, Xian-Min

来源：Journal of South China University of Technology(Natural Science Edition), 2016, 44(10): 15-21 and 29.

DOI：10.3969/j.issn.1000-565X.2016.10.003

• Activities of Daily Life
• Anthropomorphic prosthetic hands
• Drive systems
• Elastic joints
• Four-degrees-of-freedom
• Myoelectric control
• Operating functions
• Prosthetic hands

In the amputee rehabilitation, the anthropomorphic prosthetic hand of light weight, small size and most of the grasping and operating functions of human hands is needed. In this paper, by analyzing the skeletons and functions of human hands, a design of the anthropomorphic prosthetic hand is proposed. The prosthetic hand has five fingers and four degrees of freedom (DOFs), and is driven by four independent actuators. The joints of each finger are designed based on elastic joints, and the adjacent phalanxes are connected by using helical springs. Except for the thumb, each finger is of one DOF, and the movements among the joints are realized by using tendons to couple the joints. The compact drive system is settled in the palm to control the fingers. Through the analysis of the finger workspace and the simulation of the prosthetic hand, it is proved that the proposed prosthetic hand can execute most gestures and grasping tasks in the activities of daily life.

• 出版日期2016-10-1
• 单位华南理工大学