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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
Published on: November 6, 2015
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Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand.
Changcheng Wu1,2, Tianci Song1, Zilong Wu1
1College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China.
Micromachines
|January 5, 2021
Summary
This study introduces a multi-DOF adaptive prosthetic finger capable of grasping diverse objects. The bionic finger accurately captures joint angles, enabling stable adaptive grasping for improved prosthetic functionality.
Area of Science:
- Biomedical Engineering
- Robotics
- Prosthetics
Background:
- Developing prosthetic hands with adaptive grasping capabilities is crucial for restoring functionality.
- Accurate measurement of finger joint angles is essential for effective prosthetic control.
Purpose of the Study:
- To design and validate a multi-degree-of-freedom (DOF) adaptive finger for prosthetic hands.
- To enable adaptive grasping of objects with diverse shapes and capture finger joint angles.
Main Methods:
- Prototype design, forward kinematics, and force analysis of phalanges.
- Optimization of torsion spring stiffness for human-like motion ratios (MCP:PIP:DIP ≈ 3:3:1).
- Design of a mechanical-sensor integrated finger joint for angle measurement.
Main Results:
- Experimental validation of the bionic finger's functionality.
- Low root-mean-square (RMS) angle measurement errors: DIP (0.36°), PIP (0.59°), MCP (0.32°).
- Demonstrated stable grasping of objects with varying shapes.
Conclusions:
- The proposed multi-DOF adaptive finger effectively achieves adaptive grasping.
- The integrated sensor system provides accurate joint angle measurements.
- The bionic finger shows significant potential for advanced prosthetic hand applications.
