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3D Printed Robot Hand Structure Using Four-Bar Linkage Mechanism for Prosthetic Application.
Mohamad Aizat Abdul Wahit1, Siti Anom Ahmad1,2, Mohammad Hamiruce Marhaban1,3
1Department of Electrical and Electronics Engineering, Faculty of Engineering, Universiti Putra Malaysia, Serdang, Seri Kembangan, Selangor 43400, Malaysia.
Sensors (Basel, Switzerland)
|July 31, 2020
Summary
This study introduces an improved trans-radial prosthesis robot hand using a four-bar linkage mechanism for enhanced durability and motion range. The 3D-printed design offers individual finger actuation and joint protection for prosthetic users.
Area of Science:
- Biomedical Engineering
- Robotics
- Prosthetics
Background:
- Trans-radial prostheses aim to restore hand function for amputees but face challenges in structural design efficiency.
- Existing cable-driven mechanisms often result in reduced durability and inaccurate motion range.
Purpose of the Study:
- To propose and develop an improved robot hand structure for trans-radial prostheses.
- To overcome limitations of cable-driven mechanisms and address design issues like bulkiness and incomplete finger articulation.
Main Methods:
- Implemented a four-bar linkage mechanism instead of cable-driven actuation.
- Designed a five-fingered hand with individual motor actuation, complete joints, and mechanical stoppers for joint protection.
- Utilized 3D printing for fabrication and conducted static analysis simulations, motion capture analysis, and load tests for validation.
Main Results:
- The proposed robot hand structure achieved a motion range capability of 70-98% compared to CAD designs.
- The structure demonstrated durability, withstanding up to 1.6 kg loads in both simulations and real-world tests.
- The design is comparable in size to an average human hand and features detachable fingers.
Conclusions:
- An improved robot hand structure for trans-radial prosthetics was successfully developed.
- The four-bar linkage mechanism enhances durability and motion accuracy.
- The 3D-printable, robust design offers a viable solution for prosthetic applications.
