Development of Tendon Driven Under-Actuated Mechanism Applied in an EMG Prosthetic Hand with Three Major Grasps for Daily Life
Xiaobei Jing, Xu Yong, Lan Tian, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi, Guanglin Li
Abstract
This paper presents a lightweight (<;250 g) and low-cost (<;350 USD) biomimetic prosthetic hand with two actuators embedded in the palm. One of them is employed for flexion/extension of the five digits, and the other one is used for the adduction/abduction of thumb. Thus, the hand can achieve major grasping tasks that account for about 85% of activities in daily life. The unique transmission provides various advantages such as a compact structure, weight saving, and short driven distance. Furthermore, by using 3D printing technology, most parts of the prosthetic hand were made to be much lighter and have a humanlike appearance, compared with conventionally manufactured artificial hand. Finally, the performance and practical applicability of the proposed design was verified experimentally through both of a motion verification and an intuitive control test by a healthy subject and a transradial amputee.
BibTeX
@inproceedings{iros2018_developmentoften,
title = {Development of Tendon Driven Under-Actuated Mechanism Applied in an EMG Prosthetic Hand with Three Major Grasps for Daily Life},
author = {Xiaobei Jing and Xu Yong and Lan Tian and Shunta Togo and Yinlai Jiang and Hiroshi Yokoi and Guanglin Li},
booktitle = {IROS 2018},
year = {2018}
}