05-04-2017, 12:30 PM
An artificial hand with 5 degrees of freedom with anthropomorphic characteristics and anthropometric dimensions. It is a modular prosthesis that will be attached to different types of prostheses and connectors. This work is based on the anatomical and biomechanical characteristics and functions of the hand to perform the grip movements performed by the fingers. For this, a methodological development is proposed that determines the primary and secondary functions of the prototype. In addition, this methodology defines the mechanical, electrical and electronic components that activate the movements of the hands, generating design alternatives from the creation of a global scheme that is constituted by five stages: sensor, control, actuators, mechanisms and sourcing. The adaptation mechanism is a system of six interlaced links with hinge type joints, similar to that proposed by Dechev . As a result of this methodology, a prototype hand was obtained with 5 fingers, numbered from I to V, with rigid mechanisms to achieve the flexion-extension movements of the fingers and also for the movement of the tenar prominence for the opposition of the finger I with the other fingers. This prototype is a system that uses embedded systems to control the fingers. Each finger uses a different type of actuators (servo, stepper motor and gearmotor), also different controllers; This is because each does not have the same function in the hand.
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