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Huang, H. and Jiang, L. and Zhao , D.W. and Zhao , J.D. and Cai, H.G. and Liu, Hong and Meusel, Peter and Willberg, Berthold and Hirzinger, Gerhard (2006) The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism. In: Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.
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Abstract
Based on under-actuated mechanism and coupling principle, a five-fingered, multi-sensory and biomechatronic prosthetic hand has been designed. The multi- DOF hand comprises 13 joints and is controlled by 3 motors. Actuated by only one motor, the thumb can move along a cone surface which is superior in the appearance. Also driven by one motor and transmitted by springs, the mid finger, the ring finger and the little finger can move simultaneously and envelop objects with complex shape. On the other hand, during the hand designation, the handsome appearance has been considered and its glove prototype has been designed. The hardware system and the sensory system have been developed. Through blue tooth wireless protocol, the hand can be controlled by voice signal. Furthermore, it can also be controlled by Electromyography EMG) signal like most prosthetic hand in existence. It has been verified by experiments that the hand has strong capability of self-adaptation grasp and can accomplish precise and power grasp.
| Item URL in elib: | https://elib.dlr.de/45435/ | ||||||||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||||||||||||||||
| Title: | The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism. | ||||||||||||||||||||||||||||||
| Authors: |
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| Date: | 9 October 2006 | ||||||||||||||||||||||||||||||
| Journal or Publication Title: | Proceedings | ||||||||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||||||||
| Publisher: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||||
| Keywords: | Prosthetic hand, Under-actuated, Coupling, Grasp, EMG | ||||||||||||||||||||||||||||||
| Event Title: | IROS, RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||||||||
| Event Location: | Beijing, China | ||||||||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||||||||
| Event Dates: | 2006-10-09 - 2006-10-15 | ||||||||||||||||||||||||||||||
| Organizer: | IEEE | ||||||||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||||||||||||||||||||
| HGF - Program: | Space (old) | ||||||||||||||||||||||||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||
| DLR - Research area: | Space | ||||||||||||||||||||||||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||||||||||||||
| Deposited By: | Beinhofer, Gabriele | ||||||||||||||||||||||||||||||
| Deposited On: | 27 Feb 2007 | ||||||||||||||||||||||||||||||
| Last Modified: | 23 Feb 2010 16:28 |
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