Abstract
Design and analysis of a cable actuated hand prosthesis is presented. The hand has multi-actuated fingers, four with two joints, and the thumb with three joints. Each joint is designed using a novel flexible mechanism based on the loading of a compression spring in both transverse and axial directions and using cable-conduit systems. The rotational motion is transformed to tendon-like behavior, which enables the location of the actuators to be far from the arm (e.g., on a belt around the waist). It is shown that the solution of the transverse deflection of each finger segment is obtained in a general form through a Haringx model followed by an element stiffness model. Also, we use a FEM model (ANSYS) to visualize the deflection of one finger. A prototypic finger is experimentally tested, results are verified, and the hand prosthesis is built.
| Original language | English |
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| Pages | 273-280 |
| Number of pages | 8 |
| DOIs | |
| State | Published - 2004 |
| Event | 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Salt Lake City, UT, United States Duration: Sep 28 2004 → Oct 2 2004 |
Conference
| Conference | 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
|---|---|
| Country | United States |
| City | Salt Lake City, UT |
| Period | 09/28/04 → 10/2/04 |
Keywords
- Biomechanics
- FEM
- Haringx model
- Kinematics analysis
- Prosthesis