A hydraulically driven multifunctional prosthetic hand

被引：45

作者：

Schulz, S ^{[1
]}

Pylatiuk, C ^{[1
]}

Reischl, M ^{[1
]}

Martin, J ^{[1
]}

Mikut, R ^{[1
]}

Bretthauer, G ^{[1
]}

机构：

[1] Forschungszentrum Karlsruhe, Inst Appl Comp Sci, Karlsruhe, Germany

来源：

ROBOTICA | 2005年 / 23卷

关键词：

artificial hand; exo-prosthetics; fluidic actuators; control;

D O I：

10.1017/S0263574704001316

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper a new prosthetic hand is presented that closely approximates the grasping abilities of a human hand. A large variety of different objects can be grasped reliably and the movements of the hand appear to natural. This five-finger hand has 15 degrees of freedom driven by small sized flexible fluidic actuators. The drives are within the fingers allowing a very compact and lightweight hand. Also, a concept for the control of different grasp types is presented. The characteristics of the new hand are illustrated.

引用

页码：293 / 299

页数：7

共 24 条

[1]

AQUINAS T, EXCERPT TRANSLATION

[2]

Atkins D. J., 1996, J PROSTHETICS ORTHOT, V8, P2, DOI DOI 10.1097/00008526-199601000-00003

[3]

Basmajan JV, 1985, MUSCLES ALIVE THEIR

[4]

BERGMAN K, 1992, PROSTHET ORTHOT INT, V16, P32

[5] AN INVESTIGATION OF HUMAN PALMAR SKIN FRICTION AND THE EFFECTS OF MATERIALS, PINCH FORCE AND MOISTURE [J].

BUCHHOLZ, B ;

FREDERICK, LJ ;

ARMSTRONG, TJ .

ERGONOMICS, 1988, 31 (03) :317-325

[6] FRICTION, STABILITY AND THE DESIGN OF ROBOTIC FINGERS [J].

CUTKOSKY, MR ;

WRIGHT, PK .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (04) :20-37

[7]

ENGELHARDT A, 1971, Biomedizinische Technik, V16, P130, DOI 10.1515/bmte.1971.16.4.130

[8] CLINICAL APPLICATION STUDY OF MULTIFUNCTIONAL PROSTHETIC HANDS [J].

HERBERTS, P ;

ALMSTROM, C ;

CAINE, K .

JOURNAL OF BONE AND JOINT SURGERY-BRITISH VOLUME, 1978, 60 (04) :552-560

[9]

Hollerbach J., 1992, ROBOTICS REV, V2, P299, DOI DOI 10.5555/146312

[10] A NEW STRATEGY FOR MULTIFUNCTION MYOELECTRIC CONTROL [J].

HUDGINS, B ;

PARKER, P ;

SCOTT, RN .

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 1993, 40 (01) :82-94

← 1 2 3 →