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A two DoF finger for a biomechatronic artificial hand

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journal contribution
posted on 21.05.2015, 10:33 by M.C. Carrozza, B. Massa, Paolo Dario, Massimiliano Zecca, Silvestro Micera, P. Pastacaldi
Current prosthetic hands are basically simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. Although most amputees consider this performance as acceptable for usual tasks, there is ample room for improvement by exploiting recent progresses in mechatronics design and technology. We are developing a novel prosthetic hand featured by multiple degrees of freedom, tactile sensing capabilities, and distributed control. Our main goal is to pursue an integrated design approach in order to fulfill critical requirements such as cosmetics, controllability, low weight, low energy consumption and noiselessness. This approach can be synthesized by the definition "biomechatronic design", which means developing mechatronic systems inspired by living beings and able to work harmoniously with them. This paper describes the first implementation of one single finger of a future biomechatronic hand. The finger has a modular design, which allows to obtain hands with different degrees of freedom and grasping capabilities. Current developments include the implementation of a hand comprising three fingers (opposing thumb, index and middle) and an embedded controller.

Funding

This work has been supported by a research project entitled “Design and development of innovative components for sensorized prosthetic systems” currently ongoing at the “Applied Research Center on Rehabilitation Engineering” funded by INAIL (National Institute for Insurance of Injured Workers), and originated by a joint initiative promoted by INAIL and by Scuola Superiore Sant’Anna.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

Technology and Health Care

Volume

10

Issue

2

Pages

77 - 89

Citation

CARROZZA, M.C. ... et al, 2002. A two DoF finger for a biomechatronic artificial hand. Technology and Health Care, 10 (2), pp. 77 - 89.

Publisher

© IOS Press

Version

AM (Accepted Manuscript)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Publication date

2002

Notes

This article was published in the journal Technology and Health Care [© IOS Press]. The definitive version is available at: http://content.iospress.com/articles/technology-and-health-care/thc00256

ISSN

0928-7329

Language

en

Usage metrics

Loughborough Publications

Keywords

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