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On Differential Mechanisms for Underactuated, Lightweight, Adaptive Prosthetic Hands
Geng Gao1, Mojtaba Shahmohammadi1, Lucas Gerez1
1New Dexterity Research Group, Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand.
Frontiers in Neurorobotics
|November 4, 2021
Summary
This study explores underactuated robotic grippers for prosthetics. It designs and validates differential mechanisms with locking features to improve grasp control and functionality in adaptive prosthetic hands.
Area of Science:
- Robotics and Mechanical Engineering
- Biomedical Engineering and Prosthetics
Background:
- Underactuated, adaptive robotic grippers and hands are gaining traction in robotics research.
- Their application in prosthetic devices is promising due to enhanced functionality, dexterity, reduced weight, cost, and control complexity.
- Differential mechanisms are crucial for actuating multiple degrees of freedom with a single motor in these grippers.
Purpose of the Study:
- To design, analyze, and experimentally validate novel differential mechanisms for underactuated robotic hands.
- To incorporate manual and automated locking mechanisms to enhance control over differential outputs.
- To apply and compare these mechanisms in prosthetic hands, evaluating their respective benefits and drawbacks.
Main Methods:
- Design and analysis of three types of differential mechanisms: four-output geared, series elastic, and whiffletree differentials.
- Development of integrated manual and automated locking mechanisms for improved grasp selection.
- Experimental validation and comparative analysis of the differential mechanisms when applied to prosthetic hand designs.
Main Results:
- Successful design and validation of geared, series elastic, and whiffletree differentials with locking capabilities.
- Demonstrated enhancement in grasp selection control using minimal actuators through the implemented locking mechanisms.
- Comparative insights into the advantages and disadvantages of each differential type in the context of prosthetic applications.
Conclusions:
- The developed differential mechanisms, particularly with integrated locking systems, offer significant improvements for underactuated prosthetic hands.
- These advancements contribute to more functional, dexterous, and controllable prosthetic devices.
- The comparative analysis provides valuable guidance for selecting appropriate differential mechanisms in future prosthetic hand designs.
