Publicación:
The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees
The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees
| dc.contributor.author | Abarca V.E. | es_PE |
| dc.contributor.author | Flores K.M. | es_PE |
| dc.contributor.author | Elias D. | es_PE |
| dc.date.accessioned | 2024-05-30T23:13:38Z | |
| dc.date.available | 2024-05-30T23:13:38Z | |
| dc.date.issued | 2019 | |
| dc.description.abstract | 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. | |
| dc.description.sponsorship | Consejo Nacional de Ciencia, Tecnología e Innovación Tecnológica - Concytec | |
| dc.identifier.doi | https://doi.org/10.1109/ICCAR.2019.8813417 | |
| dc.identifier.scopus | 2-s2.0-85072295980 | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12390/2715 | |
| dc.language.iso | eng | |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | |
| dc.relation.ispartof | 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019 | |
| dc.rights | info:eu-repo/semantics/openAccess | |
| dc.subject | transradial amputee | |
| dc.subject | 3D printed | es_PE |
| dc.subject | prosthesis arm | es_PE |
| dc.subject.ocde | http://purl.org/pe-repo/ocde/ford#2.02.03 | |
| dc.title | The Octa Hand: An Affordable Multi-Grasping 3D-Printed Robotic Prosthesis for Transradial Amputees | |
| dc.type | info:eu-repo/semantics/article | |
| dspace.entity.type | Publication |