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Paper ThAP.66

Yoon, Dukchan (Hanyang University), Choi, Youngjin (Hanyang University)

Self-Adaptive Index Finger Mechanism for Partial Prosthesis

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Gripper and Hand Design, Joint/Mechanism Design, Rehabilitation Robotics 1

Abstract

This paper presents a robotic index finger prosthesis with the ability to bend and to adaptively grasp objects. The robotic finger mechanism is based on five-bar linkages with the torsion springs and mechanical limits to realize the under-actuation and self-adaptive grasping. The torsional springs and the mechanical limits are located between two lower links of five-bar linkages in each of proximal and middle phalanx and utilized to maintain the four-bar linkages form. When the PIP (proximal inter-phalangeal) joint is rotated, MP (metacarpophalangeal) and DIP (distal interphalangeal) joints of the robotic finger are rotated at the same time. When grasping objects, the artificial finger closely adapts to the shapes of objects pushing two lower links with the torsional springs. The finger amputees whose proximal phalanx of index is slipped can activate the PIP joint. Thus an artificial index finger can be controlled by using remaining stub of the amputees phalanx and the PIP joint without an additional actuator as if the finger of normal people does.

 

 

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