Design and control of a coupling mechanism-based prosthetic hand |
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Authors: | Xin-qing Wang Yi-wei Liu Li Jiang Da-peng Yang Nan Li Hong Liu Hai Huang |
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Institution: | [1]State Key Laboratory'of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; [2]Institute of Robotics and Mechatronics, German Aerospace Center, Munich 82230, Germany; [3]Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China |
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Abstract: | A five-fingered, multi-sensory and biomimetic hand is presented. The cambered palm is specially designed by utilizing the
knowledge of anatomy. The position of each finger is arranged according to human hand skeleton. Each finger with three phalanges
could fulfill flexion-extension movement independently. All the fingers are designed using coupling link mechanism. The location
of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp
along a cone surface, while maintaining its function. The hardware architecture is divided into control system and human-machine
interaction system. The mechanical parts, sensors and motion control systems are integrated in the hand structure. In addition,
a skin-like glove is designed, which makes the hand more humanlike. According to our primary experimental results, the hand
can accomplish several grasp modes by applying an intuitive surface electromyography control scheme. The success rate of 10
modes is up to 90%. |
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