《HIT prosthetic hand based on tendon-driven mechanism.》.pdf

J．Cent．SouthUniv．(2014)21：1778—1791 垒Springer DoI：1O．1007／sl1771．014—2124一z HITprosthetichandbasedontendon—drivenmechanism LIUYi．wei(~1]伊威)，FENGFei(丰飞)，GAOYi．fu(高一夫) StateKeyLaboratoryofRoboticsandSystem，HarbinInstituteofTechnology，Harbin150080，China ◎ CentralSouthUniversityPressandSpringer—VerlagBerlinHeidelberg2014 Abstract：Anunderactuatedfingerstructureactuatedbytendon—drivensystem ispresented．Kinematicsandstaticanalysisofthe fingerisdone．andtheresultsindicatethattheprostheticfingerstructureiseffectiveandfeasible．BasedonthedesignoffingeLa prosthetichandisdesigned．Thehandiscomposedof5independentfingersandit1ooksmore1ikehumanoid．Itssizeisabout85％ of anadult’shandandweightsabout350g．Exceptthethumbfinger,eachfingerisactuatedbvoneDCmotor,gearheadandatendon． andhasthreecurling／extensionipints．Thethumbfingerwhichisdifferentfrom otherexistingprosthesesisanove1designscheme． Thethumbfingerhasfouripintsincludingthreecurling／extensionjpintsanda1ointwhichisusedtorealizethemotionofthethumb relatedtothepalm，andtheseipintsarealsodrivenbyoneDCmotor,harmonicdriveandatendon．Theunderactuationandadaptive curling／extensionmotionofthefingerarerealizedbyjointtorsionsprings．Ahigh—poweredchipofdigitalsignalprocessing(DSP)is themainpartoftheelectricalsystem whichisusedforthemotorscontro1．datacollection．communicationwithexterna1controlling source．andsoon．Toimprovethereliabilityofthehand．structuresandsensorsaredesignedandmadeassimplyaspossible．The handhasstrongmanipulationcapabilitiesthathavebeenverifiedbyfingermotionandgraspingtestsanditcansatisfythedaily operationalneedsandpsychologicalneedsofdefourt ities． Keywords：prosthetichand；tendon—drivenmechanism ；underactuation；kinematicsandstaticanalysis handhasdisadvantagesoflackingflexibility andforce 1Introducti