The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Underactuated Finger Mechanism for Body-Powered Partial Prosthesis

신체 힘에 의해 동작되는 부분 의수를 위한 부족구동 손가락 메커니즘

  • Yoon, Dukchan (Department of Electronic Systems Engineering, Hanyang University) ;
  • Lee, Geon (Department of Electronic Systems Engineering, Hanyang University) ;
  • Choi, Youngjin (Department of Electronic Systems Engineering, Hanyang University)
  • Received : 2016.04.06
  • Accepted : 2016.07.14
  • Published : 2016.11.30
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Abstract

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.

Keywords

References

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Cited by

  1. Development of a Lightweight Prosthetic Hand for Patients with Amputated Fingers vol.10, pp.10, 2016, https://doi.org/10.3390/app10103536