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A Compliant, Underactuated Finger for Anthropomorphic Hands.

George P Kontoudis, Minas Liarokapis, Kyriakos G Vamvoudakis

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |August 4, 2019
    PubMed
    Summary

    This study introduces a novel compliant robotic finger with two actuators, enabling complex movements for anthropomorphic hands. The design enhances grasping and manipulation capabilities for advanced prosthetics and robotics.

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    Area of Science:

    • Robotics and Biomechanics
    • Mechanical Engineering
    • Biomimetic Design

    Background:

    • Development of anthropomorphic robotic and prosthetic hands requires dexterous manipulation capabilities.
    • Existing designs often face limitations in achieving multi-DOF (Degrees of Freedom) motion with compact actuation.
    • Underactuated mechanisms offer a promising approach to simplify robotic hand design.

    Purpose of the Study:

    • To present a novel compliant, underactuated finger mechanism for anthropomorphic robotic and prosthetic hands.
    • To achieve coupled flexion/extension and adduction/abduction at the metacarpophalangeal joint using two actuators.
    • To analyze, fabricate, and validate the performance of the proposed finger design.

    Main Methods:

    • Mechanism design utilizing moment arm pulleys to drive tendons for amplified abduction and maintained flexion.
    • Fabrication using a hybrid deposition manufacturing technique.
    • Experimental validation including workspace computation, force assessment, motion demonstration, and grasping/manipulation tasks.

    Main Results:

    • The proposed finger successfully achieves coupled flexion/extension and adduction/abduction.
    • Experimental validation confirmed the mechanism's efficiency, demonstrating feasible motions and grasping capabilities.
    • The collaborative actuation of two actuators increased exerted finger forces and expanded the workspace.

    Conclusions:

    • The developed compliant, underactuated finger offers a viable solution for advanced anthropomorphic robotic and prosthetic hands.
    • The mechanism's design and validated performance facilitate dexterous manipulation tasks.
    • This approach contributes to the development of more capable and human-like robotic hands.