Fast 3D Modeling of Prosthetic Robotic Hands Based on a Multi-Layer Deformable Design

Area of Science:

• Robotics
• Biomechanical Engineering
• 3D Printing Technology

Background:

• Current prosthetic robotic hand designs often rely on single structural systems, limiting functionality and flexibility.
• Human hands possess complex, multi-layered structures (skin, tissues, bones, tendons) that are not fully replicated in existing prosthetics.

Purpose of the Study:

• To propose a novel three-dimensional (3D) printable, multi-layer design for prosthetic robotic hands.
• To enhance prosthetic hand design by integrating skin, tissue, and bone layers for improved performance and customization.

Main Methods:

• Utilized 3D scanning to capture the target hand's surface model.
• Generated 3D bone models using a fast template matching method from the surface model.
• Introduced a concentric tube-based tissue layer for controlled deformability, overcoming rigid bone layer limitations.

Main Results:

• The proposed multi-layer design demonstrated significantly improved performance compared to previous designs.
• Experimental results confirmed the design's ability to produce customizable and deformable prosthetic hands.
• The design facilitates rapid and low-cost production of advanced prosthetic robotic hands.

Conclusions:

• The multi-layer, 3D printable design offers a significant advancement in prosthetic robotic hand development.
• This approach addresses the limitations of single-structure designs by mimicking the human hand's complexity.
• The proposed method enables the creation of more functional, adaptable, and cost-effective prosthetic hands.