Journal of South China University of Technology (Natural Science Edition) ›› 2016, Vol. 44 ›› Issue (10): 15-21,29.doi: 10.3969/j.issn.1000-565X.2016.10.003

• Mechanical Engineering • Previous Articles     Next Articles

Design of an Anthropomorphic Prosthetic Hand with Elastic Joints

WANG Nian-feng LAO Kun-yi ZHANG Xian-min   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2015-12-22 Revised:2016-03-21 Online:2016-10-25 Published:2016-09-01
  • Contact: 王念峰(1978-)，男，教授，博士生导师，主要从事结构优化及机器人技术研究． E-mail:menfwang@scut.edu.cn
  • About author:王念峰(1978-)，男，教授，博士生导师，主要从事结构优化及机器人技术研究．
  • Supported by:
    Supported by the National Natural Science Foundation of China(51205134，51575187，91223201) and the Natu- ral Science Foundation of Guangdong Province(S2013030013355)

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Abstract:

In the amputee rehabilitation,the anthropomorphic prosthetic hand of light weight,small size and most of the grasping and operating functions of human hands is needed.In this paper,by analyzing the skeletons and functions of human hands,a design of the anthropomorphic prosthetic hand is proposed.The prosthetic hand has five fingers and four degrees of freedom (DOFs),and is driven by four independent actuators.The joints of each finger are designed based on elastic joints,and the adjacent phalanxes are connected by using helical springs.Ex- cept for the thumb,each finger is of one DOF,and the movements among the joints are realized by using tendons to couple the joints.The compact drive system is settled in the palm to control the fingers.Through the analysis of the finger workspace and the simulation of the prosthetic hand,it is proved that the proposed prosthetic hand can execute most gestures and grasping tasks in the activities of daily life.

Key words: anthropomorphic prosthetic hand, elastic joint, myoelectric control

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