1-DOF Finger Mechanism Design for Anthropomorphic Prosthetic Hand with Similarity Criteria for Human Hand Finger Movement

Lobes Herdiman,Romdhoni Nur Huda,Taufiq Rochman

doi:10.31940/logic.v19i2.1357

Lobes Herdiman, Romdhoni Nur Huda + Show 1 more

Open Access

https://doi.org/10.31940/logic.v19i2.1357

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Abstract

Development of prosthetic hands continues to be made to get prosthetic which has special characteristics, namely anthropomorphism. The anthropomorphic prosthetic design refers to the improvement and development of the design to the stage of the similarity of the prosthetic movement to human hand movements. This study carries the design of the anthropomorphic 1-DOF prosthetic finger mechanism to get prosthetic at an affordable price. The optimization criteria for the similarity of movement with the human hand are formulated with two objective functions, namely the similarity of the range of motion and the total length of the finger that is completed simultaneously. The human hand movement that is a reference is the movement of conical object grasping on a standard size conical according to the maximum hand-held diameter anthropometry of an Indonesian people.

Highlights

IntroductionUntil now several studies have been conducted to produce prosthetic anthropomorphic fingers
Prosthetic hands that can replace the function of human hands are said to fulfill the anthropomorphic aspect.Until now several studies have been conducted to produce prosthetic anthropomorphic fingers
This study aims to create a finger mechanism with anthropomorphic aspects by considering the Laboratory of Robotics and Mechatronics (LARM) Hand mechanism

Summary

Introduction

Until now several studies have been conducted to produce prosthetic anthropomorphic fingers. Banks [1]-[3], developed a design and control system on anthropomorphic finger equipped with touch sensors. Zollo et al [4], describes research on anthropomorphic prosthetic design through a biomechatronic approach. Kurita et al [5], developed an anthropomorphic hand with a driving mechanism on the arm and the force transmitted to the hand through the gear on the wrist. Jaffar et al [6], designed anthropomorphic hands that can perform grasping movements for varying object sizes. Azlan and Yamaura [7], optimize parameters in the design of anthropomorphic fingers to perform movements in the form of grasping and pinching

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