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The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism.

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/
Document Type:Conference or Workshop Item (Paper)
Title:The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism.
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Huang, H.Harbin Institute of Technology, HIT, ChinaUNSPECIFIED
Jiang, L.Harbin Institute of Technology, HIT, ChinaUNSPECIFIED
Zhao , D.W.Harbin Institute of Technology, HIT, ChinaUNSPECIFIED
Zhao , J.D.Harbin Institute of Technology, HIT, ChinaUNSPECIFIED
Cai, H.G.Harbin Institute of Technology, HIT, ChinaUNSPECIFIED
Liu, HongUNSPECIFIEDUNSPECIFIED
Meusel, PeterUNSPECIFIEDUNSPECIFIED
Willberg, BertholdUNSPECIFIEDUNSPECIFIED
Hirzinger, GerhardUNSPECIFIEDUNSPECIFIED
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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