The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees

No hay miniatura disponible
Abarca V.E.
Flores K.M.
Elias D.
Título de la revista
Revista ISSN
Título del volumen
Institute of Electrical and Electronics Engineers Inc.
Proyectos de investigación
Unidades organizativas
Número de la revista
This work describes the development of a prosthesis hand prototype with an active wrist. The Octa Hand can perform at least six grasping shapes: rest, tip, tripod, power, spherical and extension. Cables and pulley mechanism was used on each finger to enable the flexion/extension and under-actuated abduction/adduction movement while worm drive and internal helical gear mechanisms were used on the wrist to enable the flexion/extension and pronation/supination movements. To obtain an anthropomorphic, compact, low-weight and low-cost result, the prototype was designed based on a CAD model using 3D scanner technology, and the prototype was manufactured with 3D printed technology with a total weight of 950g. A control algorithm was tested for speed and fingertips force evaluation of each degree of freedom and the force in the fingertips. As a result, the average speed of the fingers was 140 deg/s and the average force of each finger was 4.6N. © 2019 IEEE.
Palabras clave
transradial amputee, 3D printed, prosthesis arm