Development of Robotic Hand for Prosthetic Limb using a Gear Mechanism for Infants with Congenital Upper Limb Defects

Nakao, Soichiro; Hirai, Taichi; Ono, Yuma; Yamanoi, Yusuke; Kuroda, Yuki; Yabuki, Yoshiko; Togo, Shunta; Jiang, Yinlai; Kato, Ryu; Takagi, Tasuku; Ishihara, Masahiro; Yokoi, Hiroshi

doi:10.7210/jrsj.40.903

Cited by 3 publications

(1 citation statement)

References 7 publications

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“…Conventional alternatives, such as Ottobock’s Myobock hand, are too large and heavy (462 g) to suit individuals with finger deficiencies. The developed hand incorporates a bevel gear system (96 g) [ 11 ] that allows for the horizontal positioning of the DC motor and space conservation.…”

Section: Methodsmentioning

confidence: 99%

Development of Wrist Separated Exoskeleton Socket of Myoelectric Prosthesis Hand for Symbrachydactyly

Inoue,

Kuroda,

Yamanoi

et al. 2024

Cyborg Bionic Syst

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In recent years, the functionality of myoelectric prosthetic hands has improved as motors have become smaller and controls have become more advanced. Attempts have been made to reproduce the rotation and flexion of the wrist by adding degrees of freedom to the wrist joint. However, it is still difficult to fully reproduce the functionality of the wrist joint owing to the weight of the prosthesis and size limitations. In this study, we developed a new socket and prosthetic hand control system that does not interfere with the wrist joint motion. This allows individuals with hand defects who previously used prosthetic hands with fixed wrist joints to freely use their remaining wrist functionality. In the pick-and-place experiment, where blocks were moved from higher to lower locations, we confirmed that the proposed system resulted in a lower elbow position compared with the traditional prosthesis, and the number of blocks transported increased. This significantly reduced the compensatory motion of the elbow and improved the user’s performance compared with the use of a conventional prosthetic hand. This study demonstrates the usefulness of a new myoelectric prosthetic hand that utilizes the residual functions of people with hand deficiencies, which have not been utilized in the past, and the direction of its development.

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Section: Methodsmentioning

confidence: 99%

Development of Wrist Separated Exoskeleton Socket of Myoelectric Prosthesis Hand for Symbrachydactyly

Inoue,

Kuroda,

Yamanoi

et al. 2024

Cyborg Bionic Syst

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2自由度回転対立機構を用いた小児用能動義指の開発と成果

YABUKI,

INOUE,

KURODA

et al. 2024

Transactions of the JSME (In Japanese)

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This study describes the development of a body-powered upper-limb prosthesis for children with congenital digit defects that realizes pinching motions using their own residual digits and joints. Existing digit prostheses assume that the thumb remains intact. If there is no thumb, a conventional upper-limb prosthesis cannot sufficiently restore grasping function. The developed body-powered upper-limb prosthesis was designed to mechanically convert the flexion and rotation power of the residual digits into the power of the opposing prosthetic digit. This conversion enabled the reconstruction of opposing pinching motions at the fingertip. Consequently, this design enhanced the function of the residual digit in the absence of the thumb. In this study, we developed a body-powered upper-limb prosthesis applicable to a single residual digit or two parallel digits. The digit prosthesis, which includes the thumb, was designed to synchronize its movement with the motion of the metacarpophalangeal (MP) joint of the residual digit. The prosthesis joints enable two degree-of-freedom (DOF) motions: flexion/extension and adduction/abduction. The digit opposing the thumb can be selected through this joint by the adduction and abduction rotation movements of the residual digit. The mechanism performance was evaluated using tensile tests, which confirmed that the force applied to the residual digit was linearly transmitted and exerted as a pinch force on the prosthesis. This feature allows for a more intuitive use by the user. The evaluation of its application in children with congenital digit defects revealed that expanding the palm allows the user to throw and catch a ball and use scissors in daily life.

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Development of Self-Powered Prosthetic Finger with Pneumatic Passive Joints for Distal Interphalangeal Joint Amputees

Nishikawa,

Hirata,

Takaiwa

2024

JRM

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Myoelectric prosthetic hands and fingers with grasping functions have challenges such as weight, cost, and grasping performance of flexible objects owing to the use of electric actuators. To resolve these problems, we propose a self-powered movable prosthetic finger using pneumatic pressure. This prosthetic finger utilizes the flexion/extension of the remaining finger of the user to drive a wire and flex or extend the finger joints. The use of a tendon (wire) and belt drives reduces the space occupied by the prosthetic finger unit compared with conventional linked prosthetic fingers. Furthermore, a sealed-air bellows is used for the joint for flexible grasping owing to passive variable-compliance and damping, which is impossible with only a tendon drive. These features have resulted in the stable grasping of various objects that are difficult to grasp using prosthetic fingers based on conventional technologies.

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Development of Robotic Hand for Prosthetic Limb using a Gear Mechanism for Infants with Congenital Upper Limb Defects

Cited by 3 publications

References 7 publications

Development of Wrist Separated Exoskeleton Socket of Myoelectric Prosthesis Hand for Symbrachydactyly

Development of Wrist Separated Exoskeleton Socket of Myoelectric Prosthesis Hand for Symbrachydactyly

2自由度回転対立機構を用いた小児用能動義指の開発と成果

Development of Self-Powered Prosthetic Finger with Pneumatic Passive Joints for Distal Interphalangeal Joint Amputees

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