Design and Fabrication of a Six Degree-of-Freedom Open Source Hand

Abstract

Currently, most externally powered prostheses are controlled using electromyography (or EMG), which is the measure of the electrical signals that are produced when voluntary muscle is contracted. One of the major problems is that there are a limited number of muscular control sites that can be used, which limits the complexity of the hands that are controllable. Many upper-limb prosthetics researchers are searching for methods to simply and effectively control complex prosthetic hands, and a significant number of these researchers have utilized virtual hands and other simulations to perform testing of these control algorithms (oftentimes on able bodied subjects). Thus, these control techniques remain firmly planted in the virtual realm, and the authors postulate that the development of a physical hand would help to validate results obtained through use of virtual hands and could help establish whether or not a given control scheme is realistically applicable for use by amputees. The development of such a hand would be beneficial for researchers in the field. A six degree-of-freedom hand was developed with such a purpose in mind, and two of the major goals of the project were that the hand be inexpensive and open source. The hand design is being shared on .

Design and evaluation of a distally actuated powered finger prosthesis with self-contained transmission for individuals with partial hand loss

“…Figure 11(b) gives the mechanical advantages for the 4bar linkage CDFE and for the entire mechanism, both as a function of MCP flexion angle. The mechanical advantages predicted analytically by equations (19) and (25) are verified by numerically differentiating the angular positions given in Figure 11(a) and applying equation (24). This indicates that actuating the finger mechanism from either of its distal joints likely results in an increase of torque at the MCP.…”

“…AM is becoming increasingly widespread in the development of customized medical devices for a variety of body-powered devices, 24 and more recently externally powered prosthetic hands for research. 25 Here, we present a novel design for a fully articulated powered finger prosthesis with self-contained actuation. We utilize direct laser metal sintering (DMLS) to fabricate a functional gear transmission and directly integrate it into the medial phalanx of our finger.…”

“…(a) Left: MCP, PIP, and DIP joint angles as a function of MCP flexion angle. (b) Right: plot of mechanical advantages versus MCP flexion angle, as predicted by equations(19) and(25). Actuating the finger from the DIP amplifies torque at the MCP throughout flexion range.…”

Animatronic hand using ESP8266

“…табл. 1 сравниваются число используемых соединений, количество степей свободы руки и применяемый механизм, приводящий движения пальцев в движение.Подробное сравнение можно найти у авторов, также разрабатывающих собственную модель руки[16].…”

Development of a fully flexure-based prosthetic hand

“…This literature search, updated to March 2018, intends to make an inventory of prosthetic hands developed in the last 20 years [1,4,18,20,22,31,33,37,39,[55][56][57][58][59][60][61][62][63][64][65][66][67][68][69]; a list is presented in Table B.1. A small number of robotic hands were also registered because of their compliant nature [2,3,5,17,19,70].…”