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This paper presents the design of a hand prosthesis and the implementation of an anthropomorphic finger with three degrees of freedom. The design integrates anatomical considerations, which will be emulated with alternative materials that meet the biological characteristics of the hand. The built model is inspired by the real anatomy of a human finger, in order to provide all the different handholds.
International Journal of Mechanical Engineering and Technology (IJMET) Volume 10, Issue 12, December 2019, pp 330-342, Article ID: IJMET_10_12_036 Available online at http://www.iaeme.com/ijmet/issues.asp?JType=IJMET&VType=10&IType=12 ISSN Print: 0976-6340 and ISSN Online: 0976-6359 © IAEME Publication BIOMECHANICAL CONSIDERATIONS IN THE DESIGN OF AN ARTIFICIAL HAND Oscar F Avilés., Daniel H Sánchez, Oswaldo Rivera, Mauricio Mauledoux, Oscar I Caldas Universidad Militar Nueva Granada, Programa de Ingeniería Mecatrónica, Grupo de Investigación en Mecatrónica DAVINCI, Cr 11 No 101-80 Bogotá D.C, Colombia ABSTRACT This paper presents the design of a hand prosthesis and the implementation of an anthropomorphic finger with three degrees of freedom The design integrates anatomical considerations, which will be emulated with alternative materials that meet the biological characteristics of the hand The built model is inspired by the real anatomy of a human finger, in order to provide all the different handholds The calculations of the direct and inverse kinematics are made in order to know the workspace and points of the final effector of the anthropomorphic finger Keywords: Prosthesis, Anthropomorphic Finger, Anatomy, Tendons, Cartilage, Kinematics, Grip Taxonomy Cite this Article: Oscar F Avilés., Daniel H Sánchez, Oswaldo Rivera, Mauricio Mauledoux, Oscar I Caldas, Biomechanical Considerations in the Design of an Artificial Hand International Journal of Mechanical Engineering and Technology 10(12), 2019, pp 330-342 http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=10&IType=12 INTRODUCTION The success of mankind evolution is mostly due to its ability to explore and study the surrounding world, but also to the workability of the human being With the hand objects grabbing, holding and manipulating can be performed with great skill, which is important for performing tasks of daily living with tools Robotic hands are clearly human-inspired, and their models have led to innovative and expensive fingers prototypes to be used as functional parts of anthropomorphic robots Several work can be found in literature, such as in Stanford / JPL Hand [1], UTAH / MIT Hand, TUAT/Karlsruhe Humanoid Hand, DLR Hand, NASA Robonaut or UMNG Hand Other related works are the fingers of m Cecarelli et al [8], who proposed the motion kinematics of human fingers, using sequences of video recording and photo as a methodology to determine the function of the movement Garcia et al [9] used a system which emulates the performance of the finger muscular system, represented by a transmission system based on tendons Fabrizio Lotti et al [10] developed a finger that has two degrees of freedom and low weight, using rigid links connected with flexible elements and actuators for linear displacement In Table 1, a review of some related works on robotic hands is presented [14] http://www.iaeme.com/IJMET/index.asp 330 editor@iaeme.com Biomechanical Considerations in the Design of an Artificial Hand Table 1: Technical characteristics of various artificial hands Size (norm.) # of fingers DOF 22 (Otto Bock, 2002) ≈1 (Kyberd,1995) (Light, 2000) (Fujii, 1998) (Fukuya, 2000) (Li-Ren, 1996) (Jacobsen, 1983) (Bekey, 1988) (Salisbury, 1983) (Butterfas, 2000) > 1.1 >1 >1 ≈1 ≈1 >2 ≈1.1 ≈ 1.2 ≈ 1.5 5 5 4 Robonaut (Lovchik, 1999) ≈ 1.5 Gifu (Kawasaki, 2001) 17 17 16 13 12 + 16 (Bonivento, 1992) Human Hand Ottobock SUVA MARCUS Southampton Hokkaido Karlsruhe NTU Utah/MIT Belgrade/USC Stanford/JPL DLR II UB Okada (Kandel,2000) (Okada, 1979) Actuators (type) 38 (Muscl) Control # of Sensors Weight (g) Force (N) Speed (s) E ≈17’000 ≈ 400 > 300 0.25 (E) I 600 < 100