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신체 힘에 의해 동작되는 부분 의수를 위한 부족구동 손가락 메커니즘Underactuated Finger Mechanism for Body-Powered Partial Prosthesis

Other Titles
Underactuated Finger Mechanism for Body-Powered Partial Prosthesis
Authors
윤덕찬이건최영진
Issue Date
Dec-2016
Publisher
한국로봇학회
Keywords
Underactuated Mechanism; Prosthetic Finger; Robotic Finger; and Self-adaptive Grasping
Citation
로봇학회 논문지, v.11, no.4, pp.193 - 204
Indexed
KCI
Journal Title
로봇학회 논문지
Volume
11
Number
4
Start Page
193
End Page
204
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/181960
ISSN
1975-6291
Abstract
This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.
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