Novel design of a 3D printed anthropomorphic soft prosthetic hand

Esme Abbot, Amanda de Oliveira Barros, James Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Human hands play a key role in almost all activities of daily living (ADLs) because it is an incredibly versatile tool capable of complex motion. For individuals who have had a complete loss of the hand, the ability to perform ADLs is impaired. Effective prosthetics accurately simulate the movements of a human hand by providing a high number of degrees of freedom, an efficient control system, and an anthropomorphic appearance. In this paper, the design and construction process of a highly anthropomorphic soft robotic prosthetic hand is outlined. The design specifications of the hand are based on feedback from current and former prosthetic users. The hand endoskeleton was 3D printed using fused deposition modeling techniques and was enclosed in a silicone coating modeled, after a real human hand. The hand presents anthropomorphic design in its realistic bone shapes and in its external covering that is like skin in texture and mechanical properties. The hand utilizes the flexibility of silicone instead of antagonistic tendons which would otherwise add complexity and weight to the prosthetic design. The prototype also includes adduction/abduction of the fingers, which is a common omitted movement in other prosthetics. Testing showed that the hand is capable of effective power and precision grasping.

Original languageEnglish
Title of host publication44th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791883990
DOIs
StatePublished - 2020
EventASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020 - Virtual, Online
Duration: Aug 17 2020Aug 19 2020

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume10

Conference

ConferenceASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020
CityVirtual, Online
Period08/17/2008/19/20

Keywords

  • Activities of daily living
  • Grasping
  • Soft prosthetic hand

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