TY - GEN
T1 - Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans
AU - Kamikawa, Yasuhisa
AU - Maeno, Takashi
PY - 2008
Y1 - 2008
N2 - Simple grippers with one or two degrees of freedom are commercially available prosthetic hands; these pinch type devices cannot grasp small cylinders and spheres because of their small degree of freedom. This paper presents the design and prototyping of underactuated five-finger prosthetic hand for grasping various objects in daily life. Underactuated mechanism enables the prosthetic hand to move fifteen compliant joints only by one ultrasonic motor. The innovative design of this prosthetic hand is the underactuated mechanism optimized to distribute grasping force like those of humans who can grasp various objects robustly. Thanks to human like force distribution, the prototype of prosthetic hand could grasp various objects in daily life and heavy objects with the maximum ejection force of 50 N that is greater than other underactuated prosthetic hands.
AB - Simple grippers with one or two degrees of freedom are commercially available prosthetic hands; these pinch type devices cannot grasp small cylinders and spheres because of their small degree of freedom. This paper presents the design and prototyping of underactuated five-finger prosthetic hand for grasping various objects in daily life. Underactuated mechanism enables the prosthetic hand to move fifteen compliant joints only by one ultrasonic motor. The innovative design of this prosthetic hand is the underactuated mechanism optimized to distribute grasping force like those of humans who can grasp various objects robustly. Thanks to human like force distribution, the prototype of prosthetic hand could grasp various objects in daily life and heavy objects with the maximum ejection force of 50 N that is greater than other underactuated prosthetic hands.
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U2 - 10.1109/IROS.2008.4650628
DO - 10.1109/IROS.2008.4650628
M3 - Conference contribution
AN - SCOPUS:69549126266
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 717
EP - 722
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -