Design, implementation, and evaluation of a variable stiffness transradial hand prosthesis

Hocaoğlu, Elif and Patoğlu, Volkan (2022) Design, implementation, and evaluation of a variable stiffness transradial hand prosthesis. Frontiers in Neurorobotics, 16 . ISSN 1662-5218

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We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance. Variable stiffness actuation (VSA) of the prosthesis is based on antagonistically arranged tendons coupled to nonlinear springs driven through a Bowden cable based power transmission. Bowden cable based antagonistic VSA can, not only regulate the stiffness and the position of the prosthetic hand but also enables a light-weight and low-cost design, by the opportunistic placement of motors, batteries, and controllers on any convenient location on the human body, while nonlinear springs are conveniently integrated inside the forearm. The transradial hand prosthesis also features tendon driven underactuated compliant fingers that allow natural adaption of the hand shape to wrap around a wide variety of object geometries, while the modulation of the stiffness of their drive tendons enables the prosthesis to perform various tasks with high dexterity. The compliant fingers of the prosthesis add inherent robustness and flexibility, even under impacts. The control of the variable stiffness transradial hand prosthesis is achieved by an sEMG based natural human-machine interface.
Item Type: Article
Uncontrolled Keywords: impedance modulation; tele-impedance control; transradial hand prosthesis; underactuated robotic hand design; variable stiffness actuation
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 23 Aug 2022 11:43
Last Modified: 23 Aug 2022 11:43

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