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http://dx.doi.org/10.9718/JBER.2009.30.3.205

Design of Biomimetic Hand Prosthesis with Tendon-driven Five Fingers  

Jung, Sung-Yoon (Department of Intelligent System Engineering, Graduate School of Dong-Eui University)
Kang, Sung-Kyun (Korea Institute of Machinery & Materials)
Bae, Ju-Hwan (Department of Intelligent System Engineering, Graduate School of Dong-Eui University)
Moon, In-Hyuk (Department of Intelligent System Engineering, Graduate School of Dong-Eui University)
Publication Information
Journal of Biomedical Engineering Research / v.30, no.3, 2009 , pp. 205-212 More about this Journal
Abstract
This paper proposes a biomimetic hand prosthesis with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The designed hand prosthesis with tendon-driven five fingers has totally six degrees of freedom. But its weight is merely 400.73g. The hand can perform various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed hand prosthesis is useful to amputees as a prosthetic hand.
Keywords
biomimetic; tendon-driven; hand prosthesis; five fingers; kinematic analysis;
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