The KIT Prosthetic Hand: Design and Control

Weiner, Pascal; Starke, Julia; Hundhausen, Felix; Beil, Jonas; Asfour, Tamim

doi:10.1109/iros.2018.8593851

Cited by 61 publications

(45 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A sensorised finger could be attached to the other axis, enabling the probe to apply normal forces to different parts of the finger along one axis, as well as shear forces when the finger was moved while normal forces were applied. The communication with the sensors during the experiments was implemented on the embedded system also used in the KIT prosthetic hand [41]. This embedded system was based on a microcontroller (STM32H7 series, STMicroelectronics, Geneva, Switzerland) and provides four I 2 C ports.…”

Section: Resultsmentioning

confidence: 99%

“…Each joint is extended by a stack of leaf springs, as opposed to the torsion springs, that are used in the previous version of the KIT prosthetic hand [41], in order to free up space in the joints for sensors and their cables. The leaf springs are installed completely inside each finger and are not visible from the outside.…”

Section: Joint Structure and Actuationmentioning

confidence: 99%

“…These experiments were carried out prior to the definition of the tactile sensor layout and their results were used to define the area on the finger that should be covered with tactile sensors. We used the 50 th percentile female version of the KIT Prosthetic Hand [41], as well as five objects (banana, baseball, bowl, drill, spam) from the YCB object set [48] and two objects (cola, green cup) from the KIT object set [49], in order to have a variation of shapes and sizes. The outside surface of each object was painted green, after which the object was immediately grasped using either a top or a side grasp (approaching the object from the top or the side, respectively).…”

Section: Sensor Placement Experimentsmentioning

confidence: 99%

“…With the development of sensorised fingers we set out to provide a rich multi-modal sensory feedback while addressing the challenge of tight system integration, aiming at a practical and useable yet versatile solution. We intend to use these fingers in both our prosthetic hand developments [41] as well as the hands for our humanoid robot ARMAR-6 [42]. As with our first version [43], we make use of commercial components and proven sensing methods in order to limit system complexity while introducing scalability, improving robustness, the anthropomorphic design, and extending the sensor suit.…”

Section: Introduction and Related Workmentioning

confidence: 99%

See 3 more Smart Citations

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Weiner

Neef

Shibata

et al. 2019

Sensors

Self Cite

View full text Add to dashboard Cite

Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the mechanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.

show abstract

Section: Resultsmentioning

confidence: 99%

Section: Joint Structure and Actuationmentioning

confidence: 99%

Section: Sensor Placement Experimentsmentioning

confidence: 99%

Section: Introduction and Related Workmentioning

confidence: 99%

See 2 more Smart Citations

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Weiner

Neef

Shibata

et al. 2019

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…The retraction is made through flexible 3D-printed joints. It is body-powered using the wrist of the amputee as the unique actuator to drive all the finger tendonsKIT prosthetic hand [25]: five-digit 3D-printed hand prosthesis with underactuated mechanism, sensors, and embedded control system, developed by the Institute for Anthropomatics and Robotics (Karlsruhe Institute of Technology). Two motors (one for the four long fingers and other for the thumb) actuate 10 DoFs (flexion of two joints in each finger) by means of tendons.…”

Section: Methodsmentioning

confidence: 99%

Anthropomorphism Index of Mobility for Artificial Hands

Llop-Harillo

Pérez-González

Gracia-Ibáñez

2019

Applied Bionics and Biomechanics

View full text Add to dashboard Cite

The increasing development of anthropomorphic artificial hands makes necessary quick metrics that analyze their anthropomorphism. In this study, a human grasp experiment on the most important grasp types was undertaken in order to obtain an Anthropomorphism Index of Mobility (AIM) for artificial hands. The AIM evaluates the topology of the whole hand, joints and degrees of freedom (DoFs), and the possibility to control these DoFs independently. It uses a set of weighting factors, obtained from analysis of human grasping, depending on the relevance of the different groups of DoFs of the hand. The computation of the index is straightforward, making it a useful tool for analyzing new artificial hands in early stages of the design process and for grading human-likeness of existing artificial hands. Thirteen artificial hands, both prosthetic and robotic, were evaluated and compared using the AIM, highlighting the reasons behind their differences. The AIM was also compared with other indexes in the literature with more cumbersome computation, ranking equally different artificial hands. As the index was primarily proposed for prosthetic hands, normally used as nondominant hands in unilateral amputees, the grasp types selected for the human grasp experiment were the most relevant for the human nondominant hand to reinforce bimanual grasping in activities of daily living. However, it was shown that the effect of using the grasping information from the dominant hand is small, indicating that the index is also valid for evaluating the artificial hand as dominant and so being valid for bilateral amputees or robotic hands.

show abstract

3D Printing in the Design and Fabrication of Anthropomorphic Hands: A Review

Park,

Chang,

Jung

et al. 2024

Advanced Intelligent Systems

View full text Add to dashboard Cite

In this article, 3D‐printed anthropomorphic hands for prosthetic or robotic applications are reviewed as 3D printing has transformed manufacturing by enabling the creation of intricate structures layer by layer, offering design freedom and efficiency. This review categorizes 3D‐printed anthropomorphic hands based on actuation, transmission, joint, and functional features like sensing and grasp patterns. It also assesses the level of anthropomorphism and validation methods by presenting criteria in prosthetic and robotic applications. Then, the article discusses 3D printing technologies in their usage and types, highlighting the advantages of multi‐material capabilities and integration of different hand components. Future directions on structural components, anthropomorphism, validation, and use of 3D printing are discussed, focusing on trends that only 3D printing technology can achieve in anthropomorphic hand development.

show abstract

The KIT Prosthetic Hand: Design and Control

Cited by 61 publications

References 22 publications

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

Anthropomorphism Index of Mobility for Artificial Hands

3D Printing in the Design and Fabrication of Anthropomorphic Hands: A Review

Contact Info

Product

Resources

About