Design, kinematic modeling and evaluation of a novel soft prosthetic hand with abduction joints  

作　　者：Yadong Yan Xiangqian Chen Chang Cheng Yu Wang 

机构地区：[1]Key Laboratory of Biomechanics and Mechanobiology(Beihang University),Ministry of Education,Beijing Advanced Innovation Center for Biomedical Engineering,School of Biological Science and Medical Engineering,Beihang University,Beijing,100191,China [2]Department of Mathematics and Computer Science,Colorado College,CO,80903,USA

出　　处：《Medicine in Novel Technology and Devices》2022年第3期98-106,共9页医学中新技术与新装备（英文）

基　　金：The research was supported by“National Key R&D Program of China”under Grant 2017YFA0701101.

摘　　要：This paper presents a novel tendon-driven soft prosthetic hand with 5 fingers and 9 independent actuators.A special notched structure was used as the finger joint,which brings adequate compliance to grasping.The soft finger has two kinds of vertically arranged joints that can produce flexion/extension and abduction/adduction motions under tension and release,enabling a three-dimensional workspace of the finger and improving the dexterity of the hand.The design and manufacture of the finger and soft hand are described in detail.An openloop kinematic model based on piecewise constant curvature of the finger was established and verified experimentally.The results show that the model could precisely predict finger movement.The slip resistance of the soft hand was tested,and the capacity to grasp objects was evaluated based on power grasp and precision grasp.With abduction joints,the proposed hand can perform various gestures and in-hand manipulations,which indicate high dexterity.This work provides a way to realize high dexterity for soft prosthetic hands.

关 键 词：Prosthetic hand Soft hand design Dexterous grasping 

分 类 号：R318[医药卫生—生物医学工程]