Design and analysis of a cable actuated hand prosthesis

Jingzhou Yang; Karim Abdel-Malek; Esteban Peña Pitarch

doi:10.1115/detc2004-57108

Design and analysis of a cable actuated hand prosthesis

Jingzhou Yang, Karim Abdel-Malek, Esteban Peña Pitarch

Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

3 Scopus citations

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
Pages	273-280
Number of pages	8
DOIs	https://doi.org/10.1115/detc2004-57108
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/Territory	United States
City	Salt Lake City, UT
Period	09/28/04 → 10/2/04

Keywords

Biomechanics
FEM
Haringx model
Kinematics analysis
Prosthesis

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10.1115/detc2004-57108

Cite this

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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.",

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AU - Yang, Jingzhou

AU - Abdel-Malek, Karim

AU - Pitarch, Esteban Peña

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N2 - 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.

AB - 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.

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KW - Haringx model

KW - Kinematics analysis

KW - Prosthesis

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Design and analysis of a cable actuated hand prosthesis

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