Title :
Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand
Author :
Controzzi, Marco ; Cipriani, Christian ; Jehenne, Beryl ; Donati, Marco ; Carrozza, Maria Chiara
Author_Institution :
ARTS Lab. of Scuola Superiore Sant´´Anna, Pontedera, Italy
fDate :
Aug. 31 2010-Sept. 4 2010
Abstract :
This paper presents the preliminary design of a new dexterous upper-limb prosthesis provided with a novel anthropomorphic hand, a compact wrist based on bevel gears and a modular forearm able to cover different levels of upper-limb amputations. The hand has 20 DoFs and 11 motors, with a dexterous three fingered subsystem composed by a fully actuated thumb, and an hybrid index and middle fingers to enable dexterous manipulation and enhance grasp performance.
Keywords :
artificial organs; dexterous manipulators; anthropomorphic hand; bevel gears; dexterous manipulation; dexterous three fingered subsystem; dexterous upper-limb prosthesis; grasp; mechanical design; modular forearm; tendon-driven dexterous prosthetic hand; upper-limb amputations; Actuators; Fingers; Flexible printed circuits; Humans; Joints; Thumb; Wrist; Anthropometry; Artificial Limbs; Biomechanics; Hand; Hand Joints; Humans; Prosthesis Design; Tendons;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE
Conference_Location :
Buenos Aires
Print_ISBN :
978-1-4244-4123-5
DOI :
10.1109/IEMBS.2010.5627148
