CIE-Hand towards Prosthetic Limb

Tomczyński, Jakub; Mańkowski, Tomasz; Walas, Krzysztof; Kaczmarek, Piotr

doi:10.1007/978-3-319-15847-1_27

“…The hand has four grasping modes: cylindrical, precision, hook and lateral obtained with two servomotors only. Due to simplicity in mechanical design underactuated grippers can be easily prototyped using 3D printing [27,46].…”

Section: Underactuated Designsmentioning

confidence: 99%

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

Mańkowski

¹

,

Tomczyński

²

,

Walas

³

et al. 2020

Self Cite

View full text Add to dashboard Cite

In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise manipulation, and two underactuated, tendon-driven digits for secure power grasping. For ease of reproducibility, the design uses as many off-the-shelf and 3D-printed components as possible. The on-board controller circuit and firmware are also presented. The design includes resistive position and angle sensors in each joint, resulting in full joint observability. The controller has a position-based controller integrated, along with USB communication protocol, enabling gripper state reporting and direct motor control from a PC. A high-level driver operating as a Robot Operating System node is also provided. All drives and circuitry of the PUT-Hand are integrated within the hand itself. The sensory system of the hand includes tri-axial optical force sensors placed on fully actuated fingers’ fingertips for reaction force measurement. A set of experiments is provided to present the motion and perception capabilities of the gripper. All design files and source codes are available online under CC BY-NC 4.0 and MIT licenses.

show abstract

“…Based on its purpose, there are two prosthetic hands developed in the world, namely for cosmetic and functional purposes [3], [4]. In Indonesia, most prosthetic hands are still intended for cosmetic purposes, which means that they are only complementary but cannot perform their functions as a hand.…”

Section: Introductionmentioning

confidence: 99%

Implementation of 3D Printing Technology to Design a Posthetic Hand Based Elbow Powered for an Amputee People

Triwiyanto,

Hamzah,

Lutfiyah

et al. 2022

Frontiers in Community Service and Empowerment

0

View full text Add to dashboard Cite

The target for this community service program is a resident of Jl. Parikesit RT 05 RW 03 Dusun Picis, Balongdowo Village, Candi District, Sidoarjo Regency. He had a work accident in one of the industries in the city of Sidoarjo in 2010 on the left wrist up to the fingers, so the doctor suggested amputation. He is actually still in his productive age (36 years old) but because of this situation, he is unable to carry out activities in the world of work and has decreased confidence in himself and avoids socializing in society. The purpose of this community partnership program (PKM) activity is to apply 3d printing technology in the manufacture of prosthetic hands for people who have transradial amputations as an effort to improve the quality of life. The implementation methods used are: a) the measurement of several physical parameters on the amputee such as the diameter of the arm circumference, the length of the amputated part, weight and height. In addition to physical parameters, we also carry out medical measurements, including obtaining information on health conditions such as blood pressure, heart health and blood glucose levels, b) designing prosthetic hands using 3D application programs and 3D printers, c) mechanical and functional testing for perform basic movements in the form of opening and closing the palms, d) monitoring and evaluation of the use of prosthetic hands. The results obtained from this activity are that the patient can use the prosthetic hand to assist with activities in carrying out daily activities. In this PKM activity, amputees have been tested, namely the movement of holding a mineral water bottle, holding a banana, peeling a banana peel and driving a two-wheeled motorized vehicle. Monitoring shows that patients need regular exercise in using prosthetic hands so that they are able to control and condition their use. In the future, several developments can be made, including in terms of control and size of the prosthetic hand so that patients can feel the benefits of a prosthetic hand that functions like a normal hand.

show abstract

“…With a price range from 15 million to 20 million. 88 Homepages: teknokes.poltekkesdepkes-sby.ac.id Based on its purpose, there are two prosthetic hands developed in the world, namely for cosmetic and functional purposes [3], [4]. In Indonesia, most prosthetic hands are still intended for cosmetic purposes, which means that they are only complementary but cannot perform their functions as a hand.…”

Section: Introductionmentioning

confidence: 99%

Hand Prosthetic Design for Transradial Amputee by Using 3D Printing Technology to Enhance Life Quality

Triwiyanto¹,

Hamzah²,

Luthfiyah³

et al. 2021

j.teknokes

1

0

View full text Add to dashboard Cite

The target for this community service program is a resident of Jl. Parikesit RT 05 RW 03 Dusun Picis, Balongdowo Village, Candi District, Sidoarjo Regency. He had a work accident in one of the industries in the city of Sidoarjo in 2010 on the left wrist up to the fingers, so the doctor suggested amputation. He is actually still in his productive age (36 years old) but because of this situation, he is unable to carry out activities in the world of work and has decreased confidence in himself and avoids socializing in society. The purpose of this community partnership program (PKM) activity is to apply 3d printing technology in the manufacture of prosthetic hands for people who have transradial amputations as an effort to improve the quality of life. The implementation methods used are: a) the measurement of several physical parameters on the amputee such as the diameter of the arm circumference, the length of the amputated part, weight and height. In addition to physical parameters, we also carry out medical measurements, including obtaining information on health conditions such as blood pressure, heart health and blood glucose levels, b) designing prosthetic hands using 3D application programs and 3D printers, c) mechanical and functional testing for perform basic movements in the form of opening and closing the palms, d) monitoring and evaluation of the use of prosthetic hands. The results obtained from this activity are that the patient can use the prosthetic hand to assist with activities in carrying out daily activities. In this PKM activity, amputees have been tested, namely the movement of holding a mineral water bottle, holding a banana, peeling a banana peel and driving a two-wheeled motorized vehicle. Monitoring shows that patients need regular exercise in using prosthetic hands so that they are able to control and condition their use. In the future, several developments can be made, including in terms of control and size of the prosthetic hand so that patients can feel the benefits of a prosthetic hand that functions like a normal hand.

show abstract

CIE-Hand towards Prosthetic Limb

Cited by 4 publications

References 26 publications

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

Implementation of 3D Printing Technology to Design a Posthetic Hand Based Elbow Powered for an Amputee People

Hand Prosthetic Design for Transradial Amputee by Using 3D Printing Technology to Enhance Life Quality

Contact Info

Product

Resources

About