UT hand I: A lock-based underactuated hand prosthesis

Research output: Contribution to journalArticleAcademicpeer-review

6 Citations (Scopus)

Abstract

In this paper, a new prototype underactuated hand prosthesis is presented. Its design is based on a robotic finger concept featuring tendon-pulley underactuation, joint coupling, and a series of joint locking mechanisms. The joint locks serve to actively control the degrees of freedom of the four fingers, allowing a single actuator to perform a variety of grasping motions. The thumb is separately actuated by a combination of opposition and flexion motors. Rubber fingertips add compliance to the grasp, and can be equipped with an integrated tactile sensor array. The prototype's kinematics are evaluated, and its functionality is demonstrated by performing a series of grasps. The results show that the UT Hand I provides the advantages of minimal actuation, without reducing its functionality.
Original languageEnglish
Pages (from-to)307-323
Number of pages17
JournalMechanism and machine theory
Volume78
DOIs
Publication statusPublished - 13 May 2014

Fingerprint

Pulleys
Tendons
Rubber
Sensor arrays
Kinematics
Robotics
Actuators
Prostheses and Implants
Compliance

Keywords

  • EWI-24773
  • Hand prosthesisUnderactuationJoint lockingGrasping

Cite this

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title = "UT hand I: A lock-based underactuated hand prosthesis",
abstract = "In this paper, a new prototype underactuated hand prosthesis is presented. Its design is based on a robotic finger concept featuring tendon-pulley underactuation, joint coupling, and a series of joint locking mechanisms. The joint locks serve to actively control the degrees of freedom of the four fingers, allowing a single actuator to perform a variety of grasping motions. The thumb is separately actuated by a combination of opposition and flexion motors. Rubber fingertips add compliance to the grasp, and can be equipped with an integrated tactile sensor array. The prototype's kinematics are evaluated, and its functionality is demonstrated by performing a series of grasps. The results show that the UT Hand I provides the advantages of minimal actuation, without reducing its functionality.",
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author = "B. Peerdeman and Marcello Valori and Brouwer, {Dannis Michel} and Hekman, {Edsko E.G.} and Sarthak Misra and Stefano Stramigioli",
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UT hand I : A lock-based underactuated hand prosthesis. / Peerdeman, B.; Valori, Marcello; Brouwer, Dannis Michel; Hekman, Edsko E.G.; Misra, Sarthak; Stramigioli, Stefano.

In: Mechanism and machine theory, Vol. 78, 13.05.2014, p. 307-323.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - UT hand I

T2 - A lock-based underactuated hand prosthesis

AU - Peerdeman, B.

AU - Valori, Marcello

AU - Brouwer, Dannis Michel

AU - Hekman, Edsko E.G.

AU - Misra, Sarthak

AU - Stramigioli, Stefano

PY - 2014/5/13

Y1 - 2014/5/13

N2 - In this paper, a new prototype underactuated hand prosthesis is presented. Its design is based on a robotic finger concept featuring tendon-pulley underactuation, joint coupling, and a series of joint locking mechanisms. The joint locks serve to actively control the degrees of freedom of the four fingers, allowing a single actuator to perform a variety of grasping motions. The thumb is separately actuated by a combination of opposition and flexion motors. Rubber fingertips add compliance to the grasp, and can be equipped with an integrated tactile sensor array. The prototype's kinematics are evaluated, and its functionality is demonstrated by performing a series of grasps. The results show that the UT Hand I provides the advantages of minimal actuation, without reducing its functionality.

AB - In this paper, a new prototype underactuated hand prosthesis is presented. Its design is based on a robotic finger concept featuring tendon-pulley underactuation, joint coupling, and a series of joint locking mechanisms. The joint locks serve to actively control the degrees of freedom of the four fingers, allowing a single actuator to perform a variety of grasping motions. The thumb is separately actuated by a combination of opposition and flexion motors. Rubber fingertips add compliance to the grasp, and can be equipped with an integrated tactile sensor array. The prototype's kinematics are evaluated, and its functionality is demonstrated by performing a series of grasps. The results show that the UT Hand I provides the advantages of minimal actuation, without reducing its functionality.

KW - EWI-24773

KW - Hand prosthesisUnderactuationJoint lockingGrasping

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DO - 10.1016/j.mechmachtheory.2014.03.018

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JO - Mechanism and machine theory

JF - Mechanism and machine theory

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