Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review

Belter, Joseph T.; Segil, Jacob L.; Dollar, Aaron M.; Weir, Richard F.

doi:10.1682/jrrd.2011.10.0188

Cited by 598 publications

(449 citation statements)

References 28 publications

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“…Over the past 8 yr, new myoelectrically controlled, multi-articulated hands have become available that allow human-like movements and improved grasping capabilities compared with traditional tridigital (TD) myoelectric devices [1][2]. As such, they can potentially address both functional [3] and cosmetic [4] user needs and have positive psychosocial implications [5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Impact of Michelangelo prosthetic hand: Findings from a crossover longitudinal study

et al. 2015

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Abstract-This work explores the functional and psychosocial impact of the multigrip Michelangelo (M) prosthetic hand. Transradial myoelectric prosthesis users (6 men, median age: 47 y) participated in a crossover longitudinal study. A multifactorial assessment protocol was applied before the application of M and after 3 mo (functional assessment) and 6 mo (psychosocial assessment) of home use. Functional assessment included both practical tests (i.e., Southampton Hand Assessment Procedure [SHAP], Box and Blocks Test [BBT], and Minnesota Manual Dexterity Test [MMDT]) and self-report functional scales. Psychosocial assessment consisted of a clinical interview and a battery of self-report questionnaires concerning current anxious-depressive symptoms and healthrelated quality of life, body image concerns, adjustment and satisfaction with prosthesis, social support, coping style, and personality. Increased manual dexterity was observed after 3 mo based on improvements in the SHAP, BBT, and MMDT. Two important themes emerged from the clinical interviews at the 6 mo follow-up: (1) the enhanced functionality and (2) the "like a real hand" aspect of the M, which further increased prosthesis integration to the Self. A few patients expressed concerns about M dimension, noise, and weight. The M appeared to restore hand function and natural appearance. The present findings provide preliminary evidence, and additional studies are needed.

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Section: Introductionmentioning

confidence: 99%

Impact of Michelangelo prosthetic hand: Findings from a crossover longitudinal study

et al. 2015

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“…The grasp is robust and built to last. Bebionic hand (Medynski and Rattray, 2011) (Figure 1A) and i-Limb hand (Belter et al, 2013) (Figure 1B) are two representatives of commercial prosthetic hand. In recent years, several prosthetic hands also use 3D print technology to build the hand.…”

Section: Prosthetic Robotic Handmentioning

confidence: 99%

“…It not only links the two neighboring finger's phalanges but also supports the motion of the fingers and grasping the power of the robotic hand. For commercial prosthetic hands, "linkage spanning" and "tendon linking" are two widely used joint coupling methods (Belter et al, 2013). "Linkage spanning" provides the best stability when moving the joint, while "tendon linking" gives more flexibility depending on the material used and the mechanical design.…”

Section: D Modeling and 3d Printing Technologymentioning

confidence: 99%

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Tian

Thalmann

et al. 2017

Front. Robot. AI

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Dexterity robotic hands can (Cummings, 1996) greatly enhance the functionality of humanoid robots, but the making of such hands with not only human-like appearance but also the capability of performing the natural movement of social robots is a challenging problem. The first challenge is to create the hand's articulated structure and the second challenge is to actuate it to move like a human hand. A robotic hand for humanoid robot should look and behave human like. At the same time, it also needs to be light and cheap for widely used purposes. We start with studying the biomechanical features of a human hand and propose a simplified mechanical model of robotic hands, which can achieve the important local motions of the hand. Then, we use 3D modeling techniques to create a single interlocked hand model that integrates pin and ball joints to our hand model. Compared to other robotic hands, our design saves the time required for assembling and adjusting, which makes our robotic hand ready-to-use right after the 3D printing is completed. Finally, the actuation of the hand is realized by cables and motors. Based on this approach, we have designed a cost-effective, 3D printable, compact, and lightweight robotic hand. Our robotic hand weighs 150 g, has 15 joints, which are similar to a real human hand, and 6 Degree of Freedom (DOFs). It is actuated by only six small size actuators. The wrist connecting part is also integrated into the hand model and could be customized for different robots such as Nadine robot (Magnenat Thalmann et al., 2017). The compact servo bed can be hidden inside the Nadine robot's sleeve and the whole robotic hand platform will not cause extra load to her arm as the total weight (150 g robotic hand and 162 g artificial skin) is almost the same as her previous unarticulated robotic hand which is 348 g. The paper also shows our test results with and without silicon artificial hand skin, and on Nadine robot.

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“…instructions using body language, verbal communications and the mind). 7,8,9 The present robotic prostheses available from Bebionic 10 are operated using preprogramed buttons inside the prosthetic unit and operated easily via a switch, by the amputee. Thus intention-movement of prosthetic units enables amputees to manipulate and handle objects and experience a better quality of life.…”

Section: Introductionmentioning

confidence: 99%

Thumb-tip Force Prediction Based on Hill’s Muscle Model using Electromyogram and Ultrasound Signal

Sidek¹,

Roslan²,

Sidek³

2018

IJCIS

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The use of prostheses is necessary to restore lost limbs to a level of functionality to enable activity of daily living. Many prostheses are now using myoelectric based control techniques to operate. However, to develop a model based controller for the system remains a challenge as accurate model is necessary. This study investigates the use of electromyogram and ultrasound signal to predict thumb tip force based on Hill's Muscle model. The results obtained has shown a significant improvement in the prediction of thumb tip force as much as 31.45% of average RMSE over the benchmark model that leverages on biomechanics model and active marker to characterize the muscle.

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Mechanical design and performance specifications of anthropomorphic prosthetic hands: A review

Cited by 598 publications

References 28 publications

Impact of Michelangelo prosthetic hand: Findings from a crossover longitudinal study

Impact of Michelangelo prosthetic hand: Findings from a crossover longitudinal study

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Thumb-tip Force Prediction Based on Hill’s Muscle Model using Electromyogram and Ultrasound Signal

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