Review Article

Development of a Dexterous Prosthetic Hand

[+] Author and Article Information
Mahonri Owen

Faculty of Engineering,
University of Waikato,
Hamilton 3216, New Zealand
e-mail: mahonri.owen@gmail.com

ChiKit Au

Faculty of Engineering,
University of Waikato,
Hamilton 3216, New Zealand
e-mail: ckau@waikato.ac.nz

Andrew Fowke

Faculty of Engineering,
University of Waikato,
Hamilton 3216, New Zealand
e-mail: andrewfowke@hotmail.com

1Corresponding author.

Contributed by the Computers and Information Division of ASME for publication in the JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING. Manuscript received January 28, 2016; final manuscript received October 11, 2017; published online November 13, 2017. Assoc. Editor: Charlie C. L. Wang.

J. Comput. Inf. Sci. Eng 18(1), 010801 (Nov 13, 2017) (7 pages) Paper No: JCISE-16-1045; doi: 10.1115/1.4038291 History: Received January 28, 2016; Revised October 11, 2017

An anthropomorphic, under-actuated, prosthetic hand has been designed and developed for upper extremity amputees. This paper proposes a dexterity focused approach to the design of an anthropomorphic electromechanical hand for transradial amputees. Dexterity is increased by the improvement of thumb position, orientation, and work space. The fingers of the hand are also capable of adduction and abduction. It is the intent of this research project to aid the rehabilitation of upper extremity amputees by increasing the amount of tasks the hand can execute. Function and control of the hand are based on micro servo actuation and information acquired from the brain. Electroencephalography (EEG) is used to attain the mental state of the user, which triggers the prosthetic hand. This paper focuses on the mechanical arrangement of the hand and investigates the effect of increasing the degrees-of-freedom (DOFs) the thumb and fingers have.

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Fig. 1

The finger of a prosthetic hand

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Fig. 4

Adduction/abduction position: (a) adduction and (b) abduction

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Fig. 5

The anthropomorphism index against the thumb orientation: (a) thumb orientation and (b) anthropomorphism index versus thumb orientation

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Fig. 6

Prosthetic hand with thumb orientation of 40 deg: (a) Denavit–Hartenberg representation and (b) computer-aided design model

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Fig. 7

Force sensing resistors (FSR) sensors on the thumb

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Fig. 8

Steps for a three-finger ball grasp

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Fig. 9

Three-finger ball grasp in fingertips

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Fig. 10

Trajectory plot of various fingers

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Fig. 11

The thumb touching various fingers: (a) thumb and little finger, (b) thumb and ring finger, (c) thumb and middle finger, and (d) thumb and index finger

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Fig. 12

Control flow for the designed prosthetic hand



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